version: 66.02
glider: 128
mission: 2
dive: 47
start: 9 7 107 6 7 26
data:
$ID,128
$MISSION,2
$DIVE,47
$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,-60082.699
$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,36
$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
$GPS1,060209,4806.625,-12222.541,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.0
$GPS2,060632,4806.615,-12222.523,15,1.2,32,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.208
$KALMAN_X,3380.4,82.1,78.3,-1844.0,-12.2
$KALMAN_Y,1048.5,41.6,7.6,-4526.2,51.9
$MHEAD_RNG_PITCHd_Wd,133.6,1310,-14.0,-7.500
$D_GRID,107
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-146.6,0.0,0.0,0,94,0.00,0.00,-71.90,0.000,2,0.000,0.000,4,2065,3210
$GC,96,-0.82,-146.6,3.7,-6.4,13,121,10.55,2.50,-3.80,0.000,4,0.222,0.062,2540,3512,3400
$GC,424,-0.82,-146.6,34.2,-8.0,55,428,0.00,2.28,0.00,0.000,6,0.000,0.030,2540,2087,3403
$GC,626,-0.82,-146.6,49.4,-7.3,74,630,0.00,2.38,0.00,0.000,4,0.000,0.051,2538,3504,3403
$GC,721,-0.82,-146.6,56.4,-7.2,82,725,0.00,2.25,0.00,0.000,6,0.000,0.030,2538,2091,3403
$GC,1046,-0.82,-146.6,80.0,-7.5,112,1050,0.00,2.35,0.00,0.000,4,0.000,0.051,2539,3510,3403
$GC,1158,-0.82,-146.6,88.2,-7.5,122,1162,0.00,2.22,0.00,0.000,6,0.000,0.030,2538,2101,3403
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1188,-0.23,0.0,90.2,7.2,124,1307,0.68,0.00,113.15,0.840,6,0.115,0.000,2747,2099,2800
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1309,0.82,146.6,92.7,0.0,136,1427,1.02,0.00,112.07,0.698,6,0.082,0.000,3080,2099,2202
$GC,1744,0.83,159.4,65.7,7.1,178,1760,0.00,2.38,11.20,0.818,4,0.000,0.049,3080,3492,2149
$GC,1816,0.83,159.4,59.9,8.4,184,1821,0.00,2.30,0.00,0.000,6,0.000,0.032,3082,2086,2149
$GC,2147,0.84,160.8,35.3,7.5,215,2151,0.00,2.33,0.00,0.000,4,0.000,0.045,3085,665,2148
$GC,2178,0.86,179.2,32.8,6.9,217,2199,0.00,2.33,16.35,0.858,6,0.000,0.035,3084,2079,2069
$GC,2395,0.89,205.1,16.8,6.6,241,2423,0.00,2.40,20.98,0.853,4,0.000,0.050,3084,3479,1962
$GC,2457,0.89,205.1,11.8,8.4,252,2463,0.00,2.30,0.00,0.000,6,0.000,0.032,3093,2074,1962
$GC,2531,0.89,205.1,5.9,8.0,265,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2074,1962
$STATE,2591,end climb,SURFACE_DEPTH_REACHED
$STATE,2591,begin surface coast
$FINISH,1.0,1.024044
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2648,75.47,0.716,0,0,1373,350.04
$SM_GC,1.15,0.00,0.00,75.47,0.000,0.000,0.716,12,2069,1373,-8.78,-0.88,350.04
$IRIDIUM_FIX,4748.51,-12221.84,070907,090928
$TT8_MAMPS,0.026078
$HUMID,1852
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,48.6
$24V_AH,24.4,12.223
$10V_AH,10.8,4.403
$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,21.225,28.000,273.750,75.475,0.000,38.686,44.489,89.823,0.250,0.000,0.000,34.118,472.023,1270.080,383.076,634.513,246.672,33.345,714.284,0.000,627.520,0.000,2.518
$DEVICE_MAMPS,221.663,62.127,857.506,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,203.761,216.789,477.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12861,283
$CFSIZE,260165632,256368640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,065352,4806.389,-12222.351,9,2.3,28,18.3