version: 66.02
glider: 128
mission: 2
dive: 120
start: 9 10 107 1 53 50
data:
$ID,128
$MISSION,2
$DIVE,120
$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,-61580.562
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,014832,4806.991,-12223.072,29,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.3
$GPS2,015251,4806.965,-12223.081,9,1.7,9,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.136
$KALMAN_X,9556.2,-57.4,-54.2,-8434.9,42.8
$KALMAN_Y,3317.0,194.0,1.5,-6290.5,-58.1
$MHEAD_RNG_PITCHd_Wd,124.9,2232,-13.2,-6.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,148,0.00,0.00,-123.65,0.000,6,0.000,0.000,13,2202,3400
$GC,150,-0.78,-146.6,3.9,-4.4,23,169,10.48,2.28,0.00,0.000,4,0.217,0.038,2564,825,3403
$GC,455,-0.78,-146.6,28.7,-6.5,65,459,0.00,2.25,0.00,0.000,6,0.000,0.035,2563,2223,3405
$GC,657,-0.78,-146.6,40.9,-6.0,84,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2223,3405
$GC,849,-0.78,-146.6,52.7,-6.1,102,853,0.00,2.30,0.00,0.000,4,0.000,0.050,2563,3616,3406
$GC,881,-0.78,-146.6,54.8,-6.3,104,888,0.00,2.22,0.00,0.000,6,0.000,0.028,2564,2207,3406
$GC,1208,-0.78,-146.6,73.6,-6.0,135,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2206,3406
$STATE,1480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1480,begin apogee
$GC,1484,-0.23,0.0,90.2,5.9,161,1604,0.57,0.00,114.07,0.836,6,0.112,0.000,2741,2204,2799
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1606,0.78,146.6,92.6,0.0,173,1725,1.00,2.47,111.78,0.702,4,0.081,0.039,3073,767,2201
$GC,1742,0.78,146.6,86.3,6.6,185,1748,0.00,2.33,0.00,0.000,6,0.000,0.032,3073,2150,2201
$GC,2067,0.78,146.6,61.4,7.5,216,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2151,2200
$GC,2385,0.78,146.6,38.3,6.8,246,2388,0.00,2.30,0.00,0.000,4,0.000,0.048,3073,3554,2199
$GC,2418,0.78,146.6,35.8,7.6,249,2422,0.00,2.22,0.00,0.000,6,0.000,0.030,3081,2159,2199
$GC,2615,0.78,146.6,21.5,7.2,267,2619,0.00,2.28,0.00,0.000,4,0.000,0.041,3089,745,2198
$GC,2659,0.78,146.6,18.2,7.2,272,2666,0.00,2.25,0.00,0.000,6,0.000,0.033,3089,2156,2199
$GC,2733,0.78,146.6,12.8,7.5,285,2739,0.00,2.30,0.00,0.000,4,0.000,0.048,3089,3560,2199
$GC,2762,0.78,146.6,10.7,7.6,290,2768,0.00,2.25,0.00,0.000,6,0.000,0.030,3097,2139,2198
$GC,2836,0.78,146.6,5.4,6.9,303,2842,0.00,2.33,0.00,0.000,4,0.000,0.046,3097,3551,2198
$GC,2876,0.78,146.6,2.9,6.5,310,2883,0.12,2.22,0.00,0.000,6,0.130,0.031,3070,2146,2198
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$FINISH,1.0,1.024603
$STATE,2939,end surface coast,CONTROL_FINISHED_OK
$STATE,2939,begin surface
$SM_CCo,2955,90.75,0.771,0,0,1372,350.04
$SM_GC,1.07,0.00,0.00,90.75,0.000,0.000,0.771,4,2214,1372,-8.80,0.11,350.04
$IRIDIUM_FIX,4748.51,-12224.57,100907,040430
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,47.6
$24V_AH,24.4,18.131
$10V_AH,10.8,7.361
$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,20.975,32.100,225.850,90.750,0.000,40.603,37.125,106.747,0.250,0.000,0.000,14.647,522.420,1484.531,392.857,659.861,270.874,33.339,752.191,0.000,670.685,0.000,2.520
$DEVICE_MAMPS,217.061,65.195,836.030,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.926,250.357,541.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15942,321
$CFSIZE,260165632,254349312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,024521,4806.716,-12222.653,11,1.8,11,18.3