version: 66.02
glider: 128
mission: 2
dive: 17
start: 9 6 107 7 3 54
data:
$ID,128
$MISSION,2
$DIVE,17
$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,636.79877
$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,-59462.773
$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
$GPS1,064350,4806.925,-12222.674,63,1.3,63,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.1
$GPS2,070259,4806.795,-12222.640,14,2.1,33,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.219
$KALMAN_X,-399.9,-91.7,-95.0,2135.8,-22.9
$KALMAN_Y,1811.7,283.8,-15.4,-5171.0,-38.1
$MHEAD_RNG_PITCHd_Wd,128.7,1672,-18.2,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.25,-146.6,0.0,0.0,0,93,0.00,0.00,-71.47,0.000,2,0.000,0.000,3,2074,3273
$GC,95,-1.25,-146.6,3.3,-6.5,13,114,10.05,2.30,-2.67,0.000,4,0.225,0.054,2413,671,3399
$GC,416,-1.25,-146.6,45.9,-12.6,51,423,0.00,2.30,0.00,0.000,6,0.000,0.035,2404,2077,3401
$GC,615,-1.25,-146.6,69.5,-11.7,70,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2078,3402
$STATE,782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,782,begin apogee
$GC,786,-0.29,0.0,90.0,12.2,86,905,1.05,0.00,111.62,0.781,6,0.136,0.000,2717,2078,2799
$STATE,906,end apogee,CONTROL_FINISHED_OK
$STATE,906,begin climb
$GC,908,1.25,146.6,94.0,0.0,98,1026,1.55,2.47,110.50,0.675,4,0.084,0.042,3227,678,2202
$GC,1059,1.25,146.6,83.5,11.6,112,1066,0.00,2.38,0.00,0.000,6,0.000,0.033,3227,2077,2201
$GC,1385,1.25,146.6,45.9,11.4,143,1389,0.00,2.33,0.00,0.000,4,0.000,0.047,3227,3485,2200
$GC,1424,1.25,146.6,41.1,12.4,146,1428,0.00,2.28,0.00,0.000,6,0.000,0.031,3237,2076,2200
$GC,1620,1.25,146.6,19.1,11.0,164,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2076,2200
$GC,1693,1.25,146.6,11.2,10.6,177,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2075,2200
$GC,1766,1.26,152.8,3.6,9.7,190,1779,0.00,2.38,4.93,0.640,4,0.000,0.048,3238,3481,2177
$STATE,1789,end climb,SURFACE_DEPTH_REACHED
$STATE,1789,begin surface coast
$FINISH,1.5,1.024893
$STATE,1796,end surface coast,CONTROL_FINISHED_OK
$STATE,1796,begin surface
$SM_CCo,1814,227.32,0.634,0,0,203,636.80
$SM_GC,0.99,0.00,0.00,227.32,0.000,0.000,0.634,13,2071,203,-8.77,-0.23,636.80
$IRIDIUM_FIX,4748.51,-12221.84,060907,101057
$TT8_MAMPS,0.026078
$HUMID,1782
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.7,55.3
$24V_AH,24.5,9.753
$10V_AH,10.8,3.382
$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,22.100,18.725,227.050,227.325,0.000,199.158,368.075,219.300,0.250,0.000,0.000,35.940,334.684,1051.923,492.125,455.267,880.061,33.328,748.519,0.000,441.600,0.000,2.530
$DEVICE_MAMPS,224.731,54.457,780.806,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,139.758,148.168,329.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9650,195
$CFSIZE,260165632,257093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,073839,4806.641,-12222.363,10,1.5,10,18.3