version: 66.02
glider: 128
mission: 2
dive: 68
start: 9 8 107 1 16 58
data:
$ID,128
$MISSION,2
$DIVE,68
$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,-60511.906
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,011203,4806.325,-12222.151,8,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.0
$GPS2,011557,4806.328,-12222.162,14,1.3,14,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,-0.170
$KALMAN_X,5738.4,102.3,-63.2,-3635.8,174.1
$KALMAN_Y,1554.2,60.8,6.7,-5580.5,16.2
$MHEAD_RNG_PITCHd_Wd,162.9,639,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-66.60,0.000,2,0.000,0.000,20,2165,3042
$GC,90,-0.78,-146.6,3.1,-2.9,12,115,10.38,2.38,-7.60,0.000,4,0.214,0.065,2557,3557,3399
$GC,418,-0.78,-146.6,30.4,-6.4,57,422,0.00,2.28,0.00,0.000,6,0.000,0.030,2557,2134,3402
$GC,614,-0.78,-146.6,43.7,-7.0,75,618,0.00,2.38,0.00,0.000,4,0.000,0.052,2557,3552,3402
$GC,827,-0.78,-146.6,58.2,-7.0,94,831,0.00,2.25,0.00,0.000,6,0.000,0.029,2557,2139,3402
$GC,1152,-0.78,-146.6,79.6,-6.9,124,1155,0.00,2.35,0.00,0.000,4,0.000,0.052,2556,3548,3402
$GC,1200,-0.78,-146.6,83.2,-7.2,128,1208,0.00,2.25,0.00,0.000,6,0.000,0.029,2556,2142,3403
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1312,begin apogee
$GC,1316,-0.23,0.0,90.6,6.7,139,1435,0.60,0.00,113.12,0.818,6,0.113,0.000,2743,2080,2799
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1437,0.78,146.6,93.3,0.0,151,1553,1.00,0.00,111.90,0.706,6,0.081,0.000,3066,2079,2202
$GC,1868,0.78,146.6,66.5,6.8,192,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2079,2200
$GC,2187,0.78,146.6,44.4,6.9,222,2191,0.00,2.33,0.00,0.000,4,0.000,0.050,3066,3485,2199
$GC,2224,0.78,146.6,41.5,7.2,225,2232,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,2084,2199
$GC,2422,0.78,146.6,28.1,6.7,244,2426,0.00,2.35,0.00,0.000,4,0.000,0.051,3069,3489,2199
$GC,2459,0.78,146.6,25.3,7.5,247,2466,0.00,2.30,0.00,0.000,6,0.000,0.033,3076,2078,2199
$GC,2663,0.78,146.6,12.0,6.4,276,2669,0.00,2.33,0.00,0.000,4,0.000,0.048,3082,671,2199
$GC,2709,0.78,146.6,9.2,6.3,284,2715,0.00,2.28,0.00,0.000,6,0.000,0.037,3082,2078,2199
$GC,2783,0.78,146.6,4.7,6.2,297,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2078,2199
$GC,2856,0.91,251.8,2.0,2.6,310,2863,0.00,0.00,5.30,0.671,2,0.000,0.000,3082,2078,2173
$STATE,2864,end climb,SURFACE_DEPTH_REACHED
$STATE,2864,begin surface coast
$FINISH,1.2,1.023507
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,2975,88.45,0.747,0,0,1371,350.04
$SM_GC,1.33,0.00,0.00,88.45,0.000,0.000,0.747,5,2171,1371,-8.80,0.59,350.04
$IRIDIUM_FIX,4751.72,-12223.57,080907,040448
$TT8_MAMPS,0.026845
$HUMID,1852
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.4,55.1
$24V_AH,24.4,13.981
$10V_AH,10.8,5.246
$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,20.775,27.925,230.325,88.450,0.000,39.090,38.011,85.562,0.500,0.000,0.000,15.945,552.086,1471.976,368.156,693.600,239.066,33.350,722.145,0.000,706.294,0.000,2.526
$DEVICE_MAMPS,213.993,97.409,818.389,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.047,255.880,553.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,328
$CFSIZE,260165632,255787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,020850,4806.053,-12222.223,8,1.9,14,18.3