version: 66.02
glider: 143
mission: 2
dive: 9
start: 12 11 107 4 40 51
data:
$ID,143
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,70
$T_ABORT,1440
$T_TURN,225
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51288
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,620
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2255.3381
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,499
$PITCH_MAX,3809
$C_PITCH,2901
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3503
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.3673596
$PRESSURE_SLOPE,9.1624737e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$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,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004347452
$SEABIRD_T_H,0.00063227763
$SEABIRD_T_I,2.3986022e-05
$SEABIRD_T_J,2.5175659e-06
$SEABIRD_C_G,-9.8894777
$SEABIRD_C_H,1.1048266
$SEABIRD_C_I,-0.001653178
$SEABIRD_C_J,0.00021673607
$GPS1,042656,4805.977,-12222.219,10,2.0,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.6
$GPS2,044027,4806.013,-12222.282,12,2.0,12,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,75.7,350,-27.2,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.02,-63.1,0.0,0.0,0,124,0.00,0.00,-103.55,0.000,2,0.000,0.000,495,2096,3543
$GC,127,-2.10,-123.6,3.1,-3.6,19,157,10.52,2.50,-14.30,0.000,4,0.166,0.086,2440,681,3966
$GC,264,-2.10,-123.6,18.6,-14.9,43,271,0.00,2.38,0.00,0.000,6,0.000,0.054,2440,2084,3966
$GC,338,-2.10,-123.6,29.9,-15.7,56,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2084,3966
$GC,411,-2.10,-123.6,41.9,-16.7,69,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2084,3966
$GC,551,-2.10,-123.6,66.3,-17.5,94,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2083,3966
$GC,693,-2.10,-123.6,90.7,-16.9,119,699,0.00,2.45,0.00,0.000,4,0.000,0.066,2440,3503,3965
$GC,727,-2.10,-123.6,96.8,-17.6,125,733,0.00,2.38,0.00,0.000,6,0.000,0.053,2440,2094,3966
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,793,-0.36,0.0,108.0,18.4,136,890,1.88,0.00,92.00,0.951,6,0.126,0.000,2817,2032,3503
$STATE,891,end apogee,CONTROL_FINISHED_OK
$STATE,891,begin climb
$GC,892,2.10,123.6,112.2,0.0,154,1000,2.40,0.00,99.03,0.834,6,0.074,0.000,3356,2033,2998
$GC,1134,2.10,123.6,81.8,17.2,198,1141,0.00,2.42,0.00,0.000,4,0.000,0.067,3356,636,2998
$GC,1191,2.10,123.6,71.5,18.1,208,1197,0.00,2.38,0.00,0.000,6,0.000,0.048,3357,2050,2997
$GC,1333,2.10,123.6,47.5,17.1,233,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2051,2997
$GC,1472,2.10,123.6,23.9,17.6,258,1479,0.00,2.45,0.00,0.000,4,0.000,0.066,3356,636,2998
$GC,1563,2.10,123.6,7.2,18.6,274,1570,0.00,2.35,0.00,0.000,6,0.000,0.048,3356,2041,2998
$STATE,1580,end climb,SURFACE_DEPTH_REACHED
$STATE,1580,begin surface coast
$FINISH,1.8,1.017562
$STATE,1604,end surface coast,CONTROL_FINISHED_OK
$STATE,1604,begin surface
$SM_CCo,1623,401.73,0.784,0,0,975,620.12
$SM_GC,0.97,0.00,0.00,401.73,0.000,0.000,0.784,496,2096,975,-11.06,0.17,620.12
$IRIDIUM_FIX,4748.51,-12224.57,111207,080821
$TT8_MAMPS,0.021476
$HUMID,1640
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,17.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.8,46.7
$24V_AH,23.5,2.361
$10V_AH,10.1,0.889
$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,27.550,19.425,191.025,401.725,0.000,117.849,197.099,284.535,1.250,0.000,0.000,13.549,421.317,575.387,669.688,515.976,674.776,0.000,976.109,0.000,519.013,0.000,5.475
$DEVICE_MAMPS,166.439,103.545,951.080,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,191.855,138.594,0.000,316.135,322.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22370,281
$CFSIZE,260165632,258445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111207,051521,4805.952,-12222.022,11,1.8,11,18.3