version: 66.02
glider: 128
mission: 2
dive: 16
start: 9 6 107 6 9 49
data:
$ID,128
$MISSION,2
$DIVE,16
$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,30
$T_MISSION,45
$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,30
$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,-59426.203
$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,17
$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,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,34
$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
$GPS1,060435,4807.072,-12222.979,9,5.2,28,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.8
$GPS2,060851,4807.050,-12222.989,11,1.1,11,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.184,-0.185
$KALMAN_X,-495.7,-80.3,-83.0,1779.4,-119.0
$KALMAN_Y,1872.1,338.1,-11.0,-4822.8,-3.5
$MHEAD_RNG_PITCHd_Wd,116.9,2298,-18.2,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.25,-146.6,0.0,0.0,0,86,0.00,0.00,-65.50,0.000,2,0.000,0.000,20,2094,3065
$GC,88,-1.25,-146.6,3.4,-8.8,12,113,9.93,2.35,-7.50,0.000,4,0.223,0.054,2412,673,3398
$GC,270,-1.25,-146.6,27.6,-13.3,39,274,0.00,2.30,0.00,0.000,6,0.000,0.035,2403,2085,3400
$GC,466,-1.25,-146.6,52.4,-12.9,57,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2085,3401
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,766,-0.29,0.0,90.1,12.4,85,885,1.08,0.00,111.47,0.782,6,0.136,0.000,2724,2087,2799
$STATE,886,end apogee,CONTROL_FINISHED_OK
$STATE,886,begin climb
$GC,887,1.25,146.6,94.2,0.0,97,1006,1.52,2.47,110.88,0.681,4,0.083,0.043,3227,670,2201
$GC,1028,1.25,146.6,85.8,10.5,110,1035,0.00,2.40,0.00,0.000,6,0.000,0.033,3227,2077,2201
$GC,1353,1.25,146.6,49.8,11.0,141,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2077,2201
$GC,1544,1.25,146.6,29.4,10.7,159,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2077,2200
$GC,1740,1.25,146.6,8.8,10.2,186,1747,0.00,2.33,0.00,0.000,4,0.000,0.047,3227,3482,2200
$GC,1769,1.25,146.6,5.6,11.1,191,1775,0.00,2.25,0.00,0.000,6,0.000,0.032,3237,2077,2200
$STATE,1808,end climb,SURFACE_DEPTH_REACHED
$STATE,1808,begin surface coast
$FINISH,1.3,1.022843
$STATE,1833,end surface coast,CONTROL_FINISHED_OK
$STATE,1833,begin surface
$SM_CCo,1849,102.50,0.697,0,0,1372,350.04
$SM_GC,1.96,0.00,0.00,102.50,0.000,0.000,0.697,3,2074,1372,-8.81,-0.14,350.04
$IRIDIUM_FIX,4748.51,-12221.84,060907,090957
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,66.0,9.4
$24V_AH,24.5,9.631
$10V_AH,10.8,3.343
$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,21.950,14.100,222.350,102.500,0.000,40.697,44.956,105.063,0.750,0.000,0.000,12.918,331.647,878.937,351.173,417.726,247.203,33.331,596.988,0.000,427.041,0.000,2.466
$DEVICE_MAMPS,223.197,53.690,781.573,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,142.694,155.374,340.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9708,202
$CFSIZE,260165632,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,064350,4806.925,-12222.674,63,1.3,63,18.3