version: 66.02
glider: 128
mission: 2
dive: 69
start: 9 8 107 2 18 30
data:
$ID,128
$MISSION,2
$DIVE,69
$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,-60555.754
$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,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,38
$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
$GPS1,020850,4806.053,-12222.223,8,1.9,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.9
$GPS2,021731,4806.056,-12222.237,30,1.1,41,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.030
$KALMAN_X,5597.7,103.9,16.6,-3663.2,63.1
$KALMAN_Y,1561.2,75.9,-10.3,-6090.1,-13.9
$MHEAD_RNG_PITCHd_Wd,93.4,311,-33.3,-6.000
$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,-1.55,-27.8,0.0,0.0,0,87,0.00,0.00,-62.30,0.000,6,0.000,0.000,5,2171,2914
$GC,89,-1.58,-51.1,2.8,-2.6,12,108,9.55,2.40,-2.33,0.000,4,0.221,0.056,2307,731,3010
$GC,282,-1.58,-51.1,20.4,-7.6,46,286,0.00,2.30,0.00,0.000,6,0.000,0.035,2299,2148,3012
$GC,478,-1.58,-51.1,34.6,-7.2,64,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2149,3013
$GC,670,-1.58,-51.1,47.3,-6.4,82,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2149,3013
$GC,861,-1.58,-51.1,60.2,-6.5,100,865,0.00,2.28,0.00,0.000,4,0.000,0.039,2300,737,3013
$GC,881,-1.58,-51.1,61.8,-7.2,101,889,0.00,2.30,0.00,0.000,6,0.000,0.035,2290,2151,3013
$GC,1206,-1.58,-51.1,84.1,-6.9,132,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2151,3013
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1291,begin apogee
$GC,1296,-0.23,0.0,90.0,6.8,140,1343,1.52,0.00,41.67,0.937,6,0.150,0.000,2740,2048,2800
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1345,1.58,51.1,91.2,0.0,145,1393,1.75,0.00,40.25,0.747,6,0.077,0.000,3324,2048,2590
$GC,1711,1.58,51.1,58.1,9.3,180,1715,0.00,2.40,0.00,0.000,4,0.000,0.048,3324,3485,2589
$GC,1767,1.58,51.1,52.5,10.1,185,1771,0.00,2.25,0.00,0.000,6,0.000,0.033,3335,2104,2589
$GC,2091,1.58,51.1,24.1,8.0,215,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2104,2588
$GC,2290,1.58,51.1,9.1,7.1,246,2296,0.00,2.30,0.00,0.000,4,0.000,0.049,3334,3486,2588
$GC,2554,1.62,88.7,4.0,0.5,293,2589,0.00,2.28,28.05,0.876,6,0.000,0.033,3345,2066,2437
$GC,2657,1.67,126.4,2.8,0.4,311,2686,0.00,2.42,22.48,0.790,4,0.000,0.048,3345,3483,2283
$STATE,2713,end climb,SURFACE_DEPTH_REACHED
$STATE,2713,begin surface coast
$FINISH,1.1,1.024005
$STATE,2832,end surface coast,CONTROL_FINISHED_OK
$STATE,2832,begin surface
$SM_CCo,2851,97.28,0.676,0,0,1372,350.04
$SM_GC,1.28,0.00,0.00,97.28,0.000,0.000,0.676,4,2145,1372,-8.80,-0.14,350.04
$IRIDIUM_FIX,4751.72,-12232.48,080907,060612
$TT8_MAMPS,0.026078
$HUMID,1884
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,31.0
$24V_AH,24.7,14.049
$10V_AH,10.8,5.290
$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,22.900,23.275,132.450,97.275,0.000,77.317,98.348,174.792,0.750,0.000,0.000,43.220,567.129,1515.633,285.189,688.847,436.625,33.348,603.194,0.000,674.257,0.000,7.778
$DEVICE_MAMPS,220.896,55.991,936.507,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.236,265.233,577.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15991,342
$CFSIZE,260165632,255762432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,030838,4806.058,-12221.949,8,1.3,26,18.3