version: 66.02
glider: 128
mission: 2
dive: 45
start: 9 7 107 4 18 35
data:
$ID,128
$MISSION,2
$DIVE,45
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-60031.738
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,040351,4807.032,-12223.165,11,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,65
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.3
$GPS2,041739,4807.012,-12223.146,11,1.6,11,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.187
$KALMAN_X,3158.0,142.9,130.3,-2500.0,-23.9
$KALMAN_Y,921.7,-19.6,6.0,-3601.4,20.8
$MHEAD_RNG_PITCHd_Wd,124.0,2350,-14.0,-7.500
$D_GRID,103
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.82,-146.6,0.0,0.0,0,136,0.00,0.00,-114.18,0.000,2,0.000,0.000,4,2104,3210
$GC,139,-0.82,-146.6,3.2,-5.0,21,158,10.60,2.38,-4.03,0.000,4,0.221,0.054,2553,706,3400
$GC,461,-0.82,-146.6,29.4,-6.9,66,468,0.00,2.30,0.00,0.000,6,0.000,0.035,2553,2105,3403
$GC,658,-0.82,-146.6,42.3,-6.7,85,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2106,3403
$GC,850,-0.82,-146.6,54.9,-6.7,103,854,0.00,2.30,0.00,0.000,4,0.000,0.051,2553,3506,3403
$GC,883,-0.82,-146.6,57.0,-6.9,106,887,0.00,2.22,0.00,0.000,6,0.000,0.028,2553,2096,3403
$GC,1207,-0.82,-146.6,78.5,-6.7,136,1211,0.00,2.35,0.00,0.000,4,0.000,0.051,2553,3515,3403
$GC,1292,-0.82,-146.6,84.2,-7.2,143,1296,0.00,2.25,0.00,0.000,6,0.000,0.029,2553,2087,3403
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1385,-0.23,0.0,90.2,6.5,151,1504,0.60,0.00,113.22,0.843,6,0.111,0.000,2741,2086,2799
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1507,0.82,146.6,93.0,0.0,163,1622,1.02,0.00,111.12,0.689,6,0.081,0.000,3073,2086,2202
$GC,1939,0.84,165.0,66.7,6.9,204,1961,0.00,2.40,15.23,0.840,4,0.000,0.049,3073,3486,2127
$GC,1999,0.84,165.0,61.9,8.2,209,2006,0.00,2.33,0.00,0.000,6,0.000,0.031,3081,2090,2127
$GC,2325,0.84,167.4,37.3,7.4,240,2335,0.00,0.00,3.55,0.522,6,0.000,0.000,3080,2090,2117
$GC,2525,0.84,167.4,22.7,7.5,259,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2090,2116
$GC,2726,0.89,203.4,9.1,6.3,291,2761,0.00,2.30,28.27,0.852,4,0.000,0.049,3081,3484,1969
$GC,2795,0.89,203.6,4.1,7.5,303,2801,0.00,2.30,0.00,0.000,6,0.000,0.032,3081,2073,1968
$STATE,2833,end climb,SURFACE_DEPTH_REACHED
$STATE,2833,begin surface coast
$FINISH,0.9,1.023898
$STATE,2874,end surface coast,CONTROL_FINISHED_OK
$STATE,2874,begin surface
$SM_CCo,2889,74.45,0.708,0,0,1372,350.04
$SM_GC,0.98,0.00,0.00,74.45,0.000,0.000,0.708,11,2068,1372,-8.78,-0.88,350.04
$IRIDIUM_FIX,4751.72,-12225.30,070907,070757
$TT8_MAMPS,0.026078
$HUMID,1835
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,30.2
$24V_AH,24.4,12.051
$10V_AH,10.8,4.326
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,21.175,23.125,271.400,74.450,0.000,38.461,48.278,672.106,0.750,0.000,0.000,12.696,502.880,1416.534,398.936,656.906,839.156,33.350,757.218,0.000,669.268,0.000,7.049
$DEVICE_MAMPS,220.896,54.457,852.137,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.251,244.392,534.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,317
$CFSIZE,260165632,256417792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,050907,4806.851,-12222.747,33,1.1,34,18.3