version: 66.02
glider: 128
mission: 2
dive: 49
start: 9 7 107 7 54 53
data:
$ID,128
$MISSION,2
$DIVE,49
$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,-60138.297
$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,33
$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
$GPS1,074615,4806.148,-12222.133,10,1.3,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,075357,4806.128,-12222.119,13,1.7,13,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.110
$KALMAN_X,3407.2,53.2,27.9,-1291.9,-69.7
$KALMAN_Y,1065.6,97.2,24.6,-5516.0,26.1
$MHEAD_RNG_PITCHd_Wd,122.3,280,-25.1,-7.500
$D_GRID,108
$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,-1.20,-49.2,0.0,0.0,0,91,0.00,0.00,-65.68,0.000,6,0.000,0.000,18,2071,3003
$GC,93,-1.22,-67.1,3.5,-5.7,13,112,9.98,2.45,-1.62,0.000,4,0.220,0.061,2411,3508,3074
$GC,414,-1.22,-67.1,32.3,-7.8,56,421,0.00,2.30,0.00,0.000,6,0.000,0.029,2411,2091,3077
$GC,612,-1.23,-71.3,46.6,-7.1,75,616,0.00,2.38,-0.12,0.000,4,0.000,0.062,2400,3512,3092
$GC,918,-1.23,-71.3,71.0,-8.2,102,926,0.00,2.28,0.00,0.000,6,0.000,0.029,2400,2096,3093
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1172,-0.23,0.0,90.1,7.5,126,1231,1.15,0.00,56.42,0.923,6,0.139,0.000,2742,2095,2799
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1234,1.23,71.3,91.3,0.0,132,1293,1.42,0.00,55.08,0.700,6,0.081,0.000,3210,2095,2509
$GC,1608,1.23,71.3,63.1,7.9,168,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2095,2507
$GC,1927,1.23,76.1,38.7,7.0,198,1938,0.00,0.00,5.40,0.684,6,0.000,0.000,3210,2095,2488
$GC,2128,1.24,78.0,24.0,7.3,217,2132,0.00,2.33,0.00,0.000,4,0.000,0.048,3210,3495,2488
$GC,2162,1.24,80.5,21.5,7.2,220,2174,0.00,2.28,4.85,0.663,6,0.000,0.032,3221,2081,2471
$GC,2374,1.24,83.3,6.0,7.2,256,2380,0.00,0.00,3.35,0.505,6,0.000,0.000,3221,2081,2460
$GC,2448,1.28,117.0,2.4,4.1,269,2466,0.00,0.00,15.93,0.846,2,0.000,0.000,3221,2081,2348
$STATE,2466,end climb,SURFACE_DEPTH_REACHED
$STATE,2467,begin surface coast
$FINISH,2.2,1.024031
$STATE,2545,end surface coast,CONTROL_FINISHED_OK
$STATE,2545,begin surface
$SM_CCo,2547,236.00,0.661,0,0,203,636.80
$SM_GC,1.10,9.45,0.00,0.00,0.044,0.000,0.000,4,2078,196,-8.71,-0.62,638.76
$IRIDIUM_FIX,4748.51,-12226.29,070907,111145
$TT8_MAMPS,0.026078
$HUMID,1844
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,59.7
$24V_AH,24.6,12.397
$10V_AH,10.8,4.482
$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,22.000,14.000,141.025,236.000,0.000,78.473,96.747,148.394,0.250,0.000,0.000,15.144,489.606,1444.178,435.450,603.886,399.984,33.338,728.918,0.000,618.004,0.000,2.533
$DEVICE_MAMPS,220.129,62.127,922.701,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,204.175,224.887,482.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12853,286
$CFSIZE,260165632,256319488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,084345,4805.968,-12222.006,8,2.0,9,18.3