version: 66.02
glider: 128
mission: 2
dive: 48
start: 9 7 107 6 59 19
data:
$ID,128
$MISSION,2
$DIVE,48
$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,-60122.52
$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,33
$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
$GPS1,065352,4806.389,-12222.351,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.5
$GPS2,065825,4806.376,-12222.354,32,1.2,37,18.3
$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,3374.1,63.8,51.8,-1581.8,-18.8
$KALMAN_Y,1073.2,68.6,13.0,-5025.4,57.9
$MHEAD_RNG_PITCHd_Wd,131.1,822,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-146.6,0.0,0.0,0,88,0.00,0.00,-66.28,0.000,2,0.000,0.000,12,2069,3035
$GC,91,-0.82,-146.6,3.1,-4.3,12,115,10.43,2.45,-8.12,0.000,4,0.217,0.063,2539,3504,3398
$GC,419,-0.82,-146.6,31.9,-7.2,57,423,0.00,2.28,0.00,0.000,6,0.000,0.030,2539,2080,3400
$GC,616,-0.82,-146.6,46.5,-6.9,75,620,0.00,2.40,0.00,0.000,4,0.000,0.051,2539,3515,3401
$GC,706,-0.82,-146.6,53.3,-7.1,83,710,0.00,2.25,0.00,0.000,6,0.000,0.030,2538,2100,3401
$GC,1030,-0.82,-146.6,76.7,-7.1,113,1034,0.00,2.35,0.00,0.000,4,0.000,0.051,2539,3513,3401
$GC,1092,-0.82,-146.6,81.4,-7.6,118,1096,0.00,2.25,0.00,0.000,6,0.000,0.030,2539,2091,3401
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1219,-0.23,0.0,90.0,7.1,129,1336,0.62,0.00,112.60,0.825,6,0.116,0.000,2737,2091,2800
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1338,0.82,146.6,92.8,0.0,141,1455,1.05,0.00,111.75,0.700,6,0.084,0.000,3075,2091,2202
$GC,1771,0.84,166.4,65.4,6.8,182,1792,0.00,0.00,16.48,0.849,6,0.000,0.000,3075,2091,2121
$GC,2112,0.85,172.8,40.6,7.3,214,2124,0.00,2.35,6.55,0.733,4,0.000,0.048,3075,3492,2095
$GC,2150,0.85,172.8,37.3,8.4,217,2158,0.00,2.33,0.00,0.000,6,0.000,0.031,3080,2084,2094
$GC,2348,0.86,177.3,22.8,7.3,236,2359,0.00,0.00,5.10,0.673,6,0.000,0.000,3080,2084,2077
$GC,2561,0.87,193.1,7.9,7.0,270,2580,0.00,2.42,13.50,0.841,4,0.000,0.049,3080,3484,2012
$GC,2638,0.89,207.8,2.4,7.0,283,2651,0.00,2.28,8.30,0.775,2,0.000,0.031,3081,2076,1970
$STATE,2652,end climb,SURFACE_DEPTH_REACHED
$STATE,2652,begin surface coast
$FINISH,0.9,1.024104
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2700,71.25,0.686,0,0,1373,350.04
$SM_GC,1.23,0.00,0.00,71.25,0.000,0.000,0.686,17,2071,1373,-8.76,-0.82,350.04
$IRIDIUM_FIX,4748.51,-12217.40,070907,101030
$TT8_MAMPS,0.026845
$HUMID,1837
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,21.3
$24V_AH,24.4,12.305
$10V_AH,10.8,4.442
$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,21.075,23.350,274.275,71.250,0.000,39.426,45.031,95.119,1.250,0.000,0.000,39.192,482.083,1319.923,366.665,643.724,252.776,33.343,696.521,0.000,626.202,0.000,11.386
$DEVICE_MAMPS,217.061,62.894,849.069,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.815,225.432,490.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12831,291
$CFSIZE,260165632,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,074615,4806.148,-12222.133,10,1.3,10,18.3