version: 66.02
glider: 128
mission: 2
dive: 67
start: 9 8 107 0 21 10
data:
$ID,128
$MISSION,2
$DIVE,67
$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,50
$T_MISSION,65
$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,-60495.332
$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,38
$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
$GPS1,001525,4806.605,-12222.392,35,1.4,36,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.8
$GPS2,002009,4806.612,-12222.415,12,1.4,12,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.166
$KALMAN_X,5550.4,119.5,-87.6,-3753.1,98.2
$KALMAN_Y,1576.3,45.5,24.1,-5078.8,38.5
$MHEAD_RNG_PITCHd_Wd,149.2,1245,-13.2,-6.000
$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,-0.78,-146.6,0.0,0.0,0,93,0.00,0.00,-72.10,0.000,2,0.000,0.000,5,2165,3231
$GC,96,-0.78,-146.6,3.7,-4.0,13,115,10.60,2.42,-3.25,0.000,4,0.219,0.054,2565,744,3401
$GC,322,-0.78,-146.6,25.6,-6.9,46,326,0.00,2.30,0.00,0.000,6,0.000,0.038,2564,2144,3403
$GC,518,-0.78,-146.6,38.0,-6.5,64,522,0.00,2.38,0.00,0.000,4,0.000,0.055,2564,3563,3403
$GC,545,-0.78,-146.6,39.7,-6.7,66,552,0.00,2.30,0.00,0.000,6,0.000,0.028,2564,2138,3404
$GC,742,-0.78,-146.6,51.8,-6.4,85,746,0.00,2.25,0.00,0.000,4,0.000,0.044,2564,744,3404
$GC,785,-0.78,-146.6,54.7,-6.5,88,793,0.00,2.30,0.00,0.000,6,0.000,0.036,2563,2149,3404
$GC,1111,-0.78,-146.6,75.3,-6.4,119,1115,0.00,2.33,0.00,0.000,4,0.000,0.054,2564,3555,3404
$GC,1184,-0.78,-146.6,80.2,-6.5,125,1188,0.00,2.22,0.00,0.000,6,0.000,0.029,2564,2145,3404
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1341,-0.23,0.0,90.3,6.6,139,1460,0.57,0.00,113.00,0.808,6,0.112,0.000,2743,2074,2799
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1462,0.78,146.6,92.9,0.0,151,1580,1.02,0.00,112.15,0.707,6,0.081,0.000,3070,2073,2202
$GC,1897,0.78,146.6,65.4,6.9,193,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2073,2200
$GC,2216,0.78,146.6,43.5,6.9,223,2220,0.00,2.35,0.00,0.000,4,0.000,0.050,3070,3485,2199
$GC,2316,0.78,146.6,35.9,7.8,232,2320,0.00,2.25,0.00,0.000,6,0.000,0.033,3079,2090,2198
$GC,2513,0.78,146.6,22.1,6.9,250,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2090,2198
$GC,2712,0.78,146.6,8.7,6.8,282,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2090,2198
$GC,2786,0.80,165.6,4.5,5.4,295,2805,0.00,2.42,14.35,0.841,4,0.000,0.051,3079,3492,2124
$GC,2828,0.88,232.0,3.0,3.9,302,2875,0.00,2.30,41.47,0.791,2,0.000,0.032,3078,2072,1856
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,0.4,1.015225
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2953,57.53,0.688,0,0,1371,350.04
$SM_GC,1.27,0.00,0.00,57.53,0.000,0.000,0.688,20,2165,1371,-8.75,0.42,350.04
$IRIDIUM_FIX,4748.51,-12229.01,080907,030325
$TT8_MAMPS,0.026078
$HUMID,1845
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.7,54.7
$24V_AH,24.4,13.905
$10V_AH,10.8,5.205
$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,21.075,28.050,280.975,57.525,0.000,40.330,47.744,123.303,0.500,0.000,0.000,13.724,528.128,1479.414,374.731,648.993,290.525,33.342,718.925,0.000,666.620,0.000,2.527
$DEVICE_MAMPS,219.362,76.700,841.399,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.478,249.463,541.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15921,321
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,011203,4806.325,-12222.151,8,1.9,9,18.3