version: 66.02
glider: 128
mission: 2
dive: 9
start: 9 6 107 1 28 30
data:
$ID,128
$MISSION,2
$DIVE,9
$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,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,-59299.223
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2840
$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,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2854
$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
$GPS1,012331,4807.895,-12224.078,19,2.5,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.9
$GPS2,012733,4807.891,-12224.101,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,-0.187
$KALMAN_X,37.9,24.2,-19.3,-288.7,-90.7
$KALMAN_Y,1121.5,397.5,49.4,-2635.2,50.8
$MHEAD_RNG_PITCHd_Wd,117.7,2139,-18.2,-10.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-60.83,0.000,2,0.000,0.000,9,2088,3003
$GC,84,-1.25,-146.6,3.4,-8.8,11,109,10.07,2.38,-9.35,0.000,4,0.224,0.053,2431,678,3454
$GC,390,-1.25,-146.6,43.3,-12.7,49,394,0.00,2.28,0.00,0.000,6,0.000,0.035,2428,2088,3457
$GC,586,-1.25,-146.6,66.9,-12.1,67,590,0.00,2.30,0.00,0.000,4,0.000,0.050,2421,3492,3457
$GC,618,-1.25,-146.6,71.2,-12.8,69,626,0.00,2.28,0.00,0.000,6,0.000,0.029,2421,2066,3457
$STATE,772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,772,begin apogee
$GC,776,-0.29,0.0,90.2,12.2,84,895,1.05,0.00,112.05,0.806,6,0.131,0.000,2738,2063,2854
$STATE,896,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,897,1.25,146.6,93.8,0.0,96,1016,1.52,2.38,110.88,0.694,4,0.080,0.041,3245,685,2256
$GC,1056,1.25,147.8,84.5,9.9,111,1060,0.00,2.33,0.00,0.000,6,0.000,0.032,3245,2080,2256
$GC,1380,1.25,147.8,48.5,11.0,141,1384,0.00,2.30,0.00,0.000,4,0.000,0.045,3246,3484,2255
$GC,1408,1.25,147.8,45.3,12.0,143,1412,0.00,2.25,0.00,0.000,6,0.000,0.031,3256,2085,2255
$GC,1604,1.25,147.8,24.3,10.3,161,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2084,2254
$GC,1804,1.26,156.8,3.7,9.6,193,1817,0.00,2.38,7.82,0.761,4,0.000,0.046,3256,3483,2214
$STATE,1833,end climb,SURFACE_DEPTH_REACHED
$STATE,1833,begin surface coast
$FINISH,1.4,1.022650
$STATE,1868,end surface coast,CONTROL_FINISHED_OK
$STATE,1868,begin surface
$SM_CCo,1886,97.18,0.714,0,0,1427,350.04
$SM_GC,1.79,0.00,0.00,97.18,0.000,0.000,0.714,17,2069,1427,-8.82,-0.28,350.04
$IRIDIUM_FIX,4751.72,-12223.57,060907,040426
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.1,25.3
$24V_AH,24.5,9.069
$10V_AH,10.8,3.132
$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,22.175,23.150,230.750,97.175,0.000,32.771,48.498,94.135,0.750,0.000,0.000,14.015,354.338,854.804,352.970,455.056,232.787,33.330,613.408,0.000,459.437,0.000,7.026
$DEVICE_MAMPS,223.964,52.923,806.117,714.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,146.375,155.706,344.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9680,204
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,020215,4807.809,-12223.835,8,1.5,8,18.3