version: 66.02
glider: 128
mission: 2
dive: 65
start: 9 7 107 22 30 15
data:
$ID,128
$MISSION,2
$DIVE,65
$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,45
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,-60468.066
$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,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,29
$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
$GPS1,222127,4807.043,-12223.010,9,1.5,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-62.3
$GPS2,222915,4807.006,-12223.011,13,1.4,13,18.3
$SPEED_LIMITS,0.067,0.180
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,-0.157
$KALMAN_X,5209.4,144.3,-70.1,-4188.6,6.4
$KALMAN_Y,1448.1,5.1,50.0,-4207.5,60.8
$MHEAD_RNG_PITCHd_Wd,132.5,2244,-14.8,-6.667
$D_GRID,105
$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,-0.86,-146.6,0.0,0.0,0,141,0.00,0.00,-118.90,0.000,2,0.000,0.000,20,2163,3350
$GC,143,-0.86,-146.6,3.7,-5.2,22,162,10.35,2.40,-0.95,0.000,4,0.218,0.057,2539,747,3402
$GC,464,-0.86,-146.6,32.6,-6.9,62,472,0.00,2.33,0.00,0.000,6,0.000,0.035,2539,2157,3404
$GC,662,-0.86,-146.6,45.7,-6.8,81,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2157,3404
$GC,853,-0.86,-146.6,58.6,-6.9,99,857,0.00,2.30,0.00,0.000,4,0.000,0.041,2539,744,3405
$GC,880,-0.86,-146.6,60.5,-7.1,101,884,0.00,2.28,0.00,0.000,6,0.000,0.037,2539,2152,3405
$GC,1204,-0.86,-146.6,83.3,-6.9,131,1208,0.00,2.33,0.00,0.000,4,0.000,0.053,2532,3560,3405
$GC,1243,-0.86,-146.6,86.1,-7.1,134,1247,0.00,2.25,0.00,0.000,6,0.000,0.029,2532,2135,3405
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1300,begin apogee
$GC,1304,-0.23,0.0,90.2,7.1,139,1423,0.68,0.00,113.07,0.798,6,0.116,0.000,2741,2073,2799
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1426,0.86,146.6,92.9,0.0,151,1544,1.10,0.00,111.93,0.695,6,0.079,0.000,3094,2073,2202
$GC,1861,0.86,146.6,62.4,7.4,193,1865,0.00,2.40,0.00,0.000,4,0.000,0.051,3094,3493,2200
$GC,1917,0.86,146.6,57.7,8.8,198,1921,0.00,2.30,0.00,0.000,6,0.000,0.032,3100,2084,2200
$GC,2241,0.86,146.6,32.3,7.6,228,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2084,2199
$GC,2433,0.86,146.6,18.0,6.9,248,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2084,2199
$GC,2508,0.86,146.6,13.0,7.1,261,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2084,2199
$GC,2581,0.86,146.6,7.4,7.3,274,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2084,2199
$GC,2654,0.91,194.4,3.4,5.0,287,2693,0.00,0.00,35.08,0.861,6,0.000,0.000,3100,2084,2007
$STATE,2703,end climb,SURFACE_DEPTH_REACHED
$STATE,2703,begin surface coast
$FINISH,0.4,1.018168
$STATE,2801,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2817,69.75,0.690,0,0,1372,350.04
$SM_GC,1.07,0.00,0.00,69.75,0.000,0.000,0.690,9,2162,1372,-8.79,0.34,350.04
$IRIDIUM_FIX,4748.51,-12220.12,080907,020255
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,47.1
$24V_AH,24.4,13.737
$10V_AH,10.8,5.123
$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,20.975,18.750,260.075,69.750,0.000,80.458,96.197,154.289,0.250,0.000,0.000,15.153,499.583,1432.434,401.877,634.803,412.335,33.348,743.159,0.000,648.714,0.000,2.520
$DEVICE_MAMPS,217.828,94.341,861.341,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.619,239.242,528.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15995,313
$CFSIZE,260165632,255873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,231926,4806.821,-12222.668,29,1.4,30,18.3