version: 66.02
glider: 128
mission: 2
dive: 121
start: 9 10 107 2 54 39
data:
$ID,128
$MISSION,2
$DIVE,121
$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,-61596.012
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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
$GPS1,024521,4806.716,-12222.653,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.5
$GPS2,025339,4806.671,-12222.662,13,1.6,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.147
$KALMAN_X,9774.8,-78.9,-47.6,-8125.3,92.2
$KALMAN_Y,3238.9,180.0,-41.2,-6700.6,-88.0
$MHEAD_RNG_PITCHd_Wd,131.5,1488,-13.2,-6.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,100,0.00,0.00,-77.32,0.000,2,0.000,0.000,4,2214,3289
$GC,102,-0.78,-146.6,3.4,-3.4,14,121,10.50,2.33,-2.28,0.000,4,0.216,0.051,2559,797,3400
$GC,411,-0.78,-146.6,30.5,-6.5,55,419,0.00,2.30,0.00,0.000,6,0.000,0.034,2556,2203,3402
$GC,609,-0.78,-146.6,44.3,-7.1,74,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2203,3401
$GC,800,-0.78,-146.6,57.1,-6.4,92,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2204,3402
$GC,1118,-0.78,-146.6,77.4,-6.6,122,1122,0.00,2.33,0.00,0.000,4,0.000,0.050,2551,3617,3402
$GC,1173,-0.78,-146.6,81.1,-6.5,126,1180,0.00,2.25,0.00,0.000,6,0.000,0.028,2551,2196,3402
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1320,-0.23,0.0,90.3,6.1,140,1439,0.62,0.00,113.43,0.821,6,0.114,0.000,2745,2193,2800
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1442,0.78,146.6,92.4,0.0,152,1560,0.98,0.00,112.35,0.703,6,0.081,0.000,3061,2193,2202
$GC,1877,0.78,146.6,63.9,7.3,194,1881,0.00,2.35,0.00,0.000,4,0.000,0.040,3068,758,2200
$GC,1910,0.78,146.6,61.5,7.2,197,1914,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,2158,2200
$GC,2235,0.78,146.6,38.7,6.9,227,2239,0.00,2.30,0.00,0.000,4,0.000,0.048,3068,3555,2200
$GC,2266,0.78,146.6,36.2,7.6,229,2274,0.00,2.25,0.00,0.000,6,0.000,0.030,3075,2162,2200
$GC,2464,0.78,146.6,22.5,7.1,248,2468,0.00,2.28,0.00,0.000,4,0.000,0.041,3083,747,2199
$GC,2503,0.78,146.6,19.8,6.9,251,2510,0.00,2.28,0.00,0.000,6,0.000,0.033,3083,2150,2199
$GC,2578,0.78,146.6,14.8,6.7,264,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2151,2199
$GC,2652,0.78,146.6,9.9,6.8,277,2658,0.00,2.30,0.00,0.000,4,0.000,0.048,3082,3555,2199
$GC,2732,0.78,146.6,4.0,7.1,291,2738,0.00,2.25,0.00,0.000,6,0.000,0.031,3083,2147,2199
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2770,begin surface coast
$FINISH,0.7,1.025019
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2829,99.95,0.762,0,0,1372,350.04
$SM_GC,1.24,0.00,0.00,99.95,0.000,0.000,0.762,2,2229,1372,-8.81,0.54,350.04
$IRIDIUM_FIX,4748.51,-12224.57,100907,060652
$TT8_MAMPS,0.026845
$HUMID,1845
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,58.2
$24V_AH,24.4,18.218
$10V_AH,10.8,7.402
$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,20.775,27.600,225.775,99.950,0.000,80.912,170.667,109.457,0.250,0.000,0.000,14.819,511.797,1482.450,391.763,620.398,445.525,33.343,712.205,0.000,634.045,0.000,2.533
$DEVICE_MAMPS,216.294,62.894,820.690,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.827,237.260,514.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15909,305
$CFSIZE,260165632,254324736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,034437,4806.388,-12222.270,22,1.2,34,18.3