version: 66.02
glider: 128
mission: 2
dive: 94
start: 9 9 107 1 39 16
data:
$ID,128
$MISSION,2
$DIVE,94
$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,-61033.809
$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,41
$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
$GPS1,013357,4806.805,-12222.466,12,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.4
$GPS2,013815,4806.780,-12222.466,11,1.6,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.162
$KALMAN_X,7602.8,-22.9,-94.6,-5721.3,48.0
$KALMAN_Y,3065.3,94.3,-17.8,-6263.3,-8.1
$MHEAD_RNG_PITCHd_Wd,144.5,1556,-13.2,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-77.25,0.000,2,0.000,0.000,2,2170,3343
$GC,101,-0.78,-146.6,3.9,-4.5,14,120,10.57,2.33,-1.08,0.000,4,0.219,0.061,2551,3546,3400
$GC,422,-0.78,-146.6,33.7,-7.3,54,430,0.00,2.28,0.00,0.000,6,0.000,0.029,2551,2139,3401
$GC,620,-0.78,-146.6,46.4,-6.1,73,623,0.00,2.35,0.00,0.000,4,0.000,0.051,2551,3545,3401
$GC,781,-0.78,-146.6,57.0,-6.8,87,788,0.00,2.25,0.00,0.000,6,0.000,0.029,2551,2146,3401
$GC,1108,-0.78,-146.6,78.3,-6.7,118,1112,0.00,2.35,0.00,0.000,4,0.000,0.051,2551,3555,3401
$GC,1180,-0.78,-146.6,83.3,-6.5,124,1184,0.00,2.22,0.00,0.000,6,0.000,0.029,2551,2146,3402
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1284,-0.23,0.0,90.2,6.7,133,1403,0.62,0.00,114.57,0.897,6,0.111,0.000,2746,2075,2800
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1406,0.78,146.6,92.6,0.0,145,1524,0.98,0.00,112.93,0.726,6,0.081,0.000,3063,2075,2202
$GC,1841,0.78,146.6,66.0,6.9,187,1845,0.00,2.35,0.00,0.000,4,0.000,0.049,3063,3472,2199
$GC,1878,0.78,146.6,62.9,7.7,190,1886,0.00,2.30,0.00,0.000,6,0.000,0.033,3068,2086,2199
$GC,2206,0.78,146.6,39.6,7.1,221,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2086,2199
$GC,2395,0.78,146.6,27.1,6.8,239,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2086,2199
$GC,2590,0.78,146.6,14.3,6.4,264,2596,0.00,2.30,0.00,0.000,4,0.000,0.047,3068,672,2199
$GC,2626,0.78,146.6,12.2,6.2,270,2632,0.00,2.28,0.00,0.000,6,0.000,0.036,3068,2080,2199
$GC,2700,0.78,146.6,7.4,6.0,283,2706,0.00,2.30,0.00,0.000,4,0.000,0.051,3068,3483,2199
$GC,2768,0.79,152.3,3.4,5.8,295,2781,0.00,2.28,4.53,0.628,6,0.000,0.034,3068,2065,2179
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,0.4,1.014250
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2904,97.93,0.772,0,0,1372,350.04
$SM_GC,1.10,0.00,0.00,97.93,0.000,0.000,0.772,2,2157,1372,-8.81,0.20,350.04
$IRIDIUM_FIX,4751.72,-12226.29,090907,040456
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,52.1
$24V_AH,24.3,16.066
$10V_AH,10.8,6.313
$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,20.800,27.775,232.025,97.925,0.000,39.035,48.293,100.393,0.250,0.000,0.000,12.463,532.253,1440.173,391.881,655.885,266.537,33.335,726.482,0.000,673.185,0.000,2.523
$DEVICE_MAMPS,219.362,95.108,897.390,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,228.412,244.145,533.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15996,316
$CFSIZE,260165632,255053824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,023023,4806.468,-12222.342,11,2.9,30,18.3