version: 66.02
glider: 128
mission: 2
dive: 46
start: 9 7 107 5 15 5
data:
$ID,128
$MISSION,2
$DIVE,46
$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,-60047.953
$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,34
$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
$GPS1,050907,4806.851,-12222.747,33,1.1,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,051409,4806.837,-12222.733,14,1.6,14,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.203
$KALMAN_X,3325.6,121.8,122.0,-2135.2,-45.6
$KALMAN_Y,1020.2,5.3,-4.8,-4039.4,72.8
$MHEAD_RNG_PITCHd_Wd,131.0,1796,-14.0,-7.500
$D_GRID,107
$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,18,begin dive
$GC,19,-0.82,-146.6,0.0,0.0,0,93,0.00,0.00,-71.47,0.000,2,0.000,0.000,12,2069,3194
$GC,96,-0.82,-146.6,3.5,-6.0,13,120,10.40,2.50,-4.22,0.000,4,0.216,0.063,2539,3507,3402
$GC,423,-0.82,-146.6,33.7,-7.5,56,427,0.00,2.28,0.00,0.000,6,0.000,0.030,2539,2089,3403
$GC,620,-0.82,-146.6,48.3,-7.0,74,624,0.00,2.38,0.00,0.000,4,0.000,0.051,2539,3505,3404
$GC,783,-0.82,-146.6,60.4,-7.4,88,787,0.00,2.25,0.00,0.000,6,0.000,0.029,2539,2089,3404
$GC,1107,-0.82,-146.6,83.6,-7.0,118,1111,0.00,2.35,0.00,0.000,4,0.000,0.051,2539,3505,3404
$GC,1190,-0.82,-146.6,89.9,-7.5,125,1194,0.00,2.17,0.00,0.000,3,0.000,0.030,2539,2125,3404
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1199,-0.23,0.0,90.1,7.1,125,1316,0.62,0.00,113.10,0.831,6,0.117,0.000,2738,2124,2801
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,0.82,146.6,93.2,0.0,137,1436,1.05,0.00,111.95,0.694,6,0.083,0.000,3076,2124,2202
$GC,1754,0.84,161.5,66.7,7.0,179,1775,0.00,2.38,12.70,0.831,4,0.000,0.048,3076,3483,2141
$GC,1813,0.84,161.5,61.9,7.9,184,1821,0.00,2.30,0.00,0.000,6,0.000,0.031,3083,2097,2141
$GC,2139,0.85,170.1,37.3,7.2,215,2152,0.00,2.42,8.12,0.785,4,0.000,0.045,3083,665,2106
$GC,2175,0.85,170.6,34.7,7.5,218,2179,0.00,2.33,0.00,0.000,6,0.000,0.035,3083,2089,2106
$GC,2372,0.86,180.9,20.2,7.1,236,2389,0.00,2.38,9.88,0.819,4,0.000,0.050,3082,3485,2062
$GC,2434,0.86,180.9,15.3,8.4,246,2440,0.00,2.30,0.00,0.000,6,0.000,0.032,3091,2069,2062
$GC,2508,0.86,183.3,9.8,7.4,259,2514,0.00,0.00,3.78,0.559,6,0.000,0.000,3091,2069,2052
$GC,2582,0.89,203.2,4.6,6.8,272,2600,0.00,0.00,15.65,0.840,6,0.000,0.000,3091,2069,1971
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,0.7,1.024019
$STATE,2684,end surface coast,CONTROL_FINISHED_OK
$STATE,2684,begin surface
$SM_CCo,2699,77.68,0.699,0,0,1372,350.04
$SM_GC,1.26,0.00,0.00,77.68,0.000,0.000,0.699,5,2065,1372,-8.80,-0.99,350.04
$IRIDIUM_FIX,4748.51,-12224.57,070907,080811
$TT8_MAMPS,0.026078
$HUMID,1823
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,47.1
$24V_AH,24.4,12.138
$10V_AH,10.8,4.366
$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,20.925,28.025,275.175,77.675,0.000,38.645,43.611,149.713,0.250,0.000,0.000,15.585,484.272,1294.673,393.840,624.151,303.767,33.345,727.226,0.000,635.570,0.000,2.519
$DEVICE_MAMPS,215.527,62.894,839.865,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.266,224.938,489.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12835,290
$CFSIZE,260165632,256393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,060209,4806.625,-12222.541,13,1.2,13,18.3