version: 66.02
glider: 128
mission: 2
dive: 96
start: 9 9 107 3 37 16
data:
$ID,128
$MISSION,2
$DIVE,96
$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,-61082.562
$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,40
$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
$GPS1,033137,4806.132,-12222.029,34,1.2,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,033615,4806.108,-12222.024,11,1.4,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,-0.048
$KALMAN_X,7784.4,-19.9,-65.2,-5387.4,106.6
$KALMAN_Y,2833.5,79.7,-44.1,-7235.1,-99.6
$MHEAD_RNG_PITCHd_Wd,198.1,202,-42.5,-6.000
$D_GRID,108
$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,-1.95,-17.6,0.0,0.0,0,87,0.00,0.00,-63.00,0.000,6,0.000,0.000,16,2165,2874
$GC,89,-1.98,-37.3,2.0,-1.5,12,108,8.95,2.38,-2.25,0.000,4,0.219,0.063,2170,3542,2953
$GC,409,-1.98,-37.3,27.9,-6.5,58,417,0.00,2.28,0.00,0.000,6,0.000,0.029,2170,2136,2955
$GC,607,-1.98,-37.3,40.0,-6.0,77,611,0.00,2.33,0.00,0.000,4,0.000,0.048,2160,3549,2955
$GC,909,-1.98,-37.3,58.9,-6.4,103,916,0.00,2.25,0.00,0.000,6,0.000,0.028,2160,2138,2956
$GC,1235,-1.98,-39.8,78.2,-5.4,134,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2138,2956
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1449,-0.23,0.0,90.5,5.3,154,1488,2.05,0.00,31.30,0.910,6,0.163,0.000,2744,2134,2800
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1490,1.98,39.8,91.0,0.0,158,1534,2.10,2.35,31.98,0.867,4,0.077,0.047,3451,3475,2636
$GC,1625,1.98,39.8,77.8,11.9,170,1629,0.00,2.28,0.00,0.000,6,0.000,0.033,3462,2095,2636
$GC,1949,1.98,39.8,41.7,10.3,200,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2095,2636
$GC,2140,1.98,39.8,22.7,9.2,218,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2095,2635
$GC,2340,1.98,39.8,6.5,7.4,251,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2095,2635
$GC,2413,1.99,51.9,3.6,3.2,264,2432,0.00,2.35,9.65,0.805,4,0.000,0.048,3463,3480,2588
$STATE,2610,end climb,NO_VERTICAL_VELOCITY
$STATE,2610,begin surface
$SM_CCo,2612,293.27,0.673,0,0,204,636.80
$SM_GC,1.18,10.15,0.00,0.00,0.045,0.000,0.000,12,2134,195,-8.70,-0.45,639.01
$IRIDIUM_FIX,4748.51,-12221.84,090907,060623
$TT8_MAMPS,0.026078
$HUMID,1851
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,52.2
$24V_AH,24.8,16.238
$10V_AH,10.8,6.397
$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,23.250,18.500,72.925,293.275,0.000,40.968,54.400,111.543,0.250,0.000,0.000,12.516,524.250,1430.155,440.976,640.517,282.134,33.339,741.919,0.000,655.172,0.000,2.524
$DEVICE_MAMPS,219.362,62.894,909.662,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.683,232.185,504.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15975,299
$CFSIZE,260165632,254996480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,042815,4805.961,-12222.075,10,2.0,11,18.3