version: 66.02
glider: 128
mission: 2
dive: 29
start: 9 6 107 14 59 18
data:
$ID,128
$MISSION,2
$DIVE,29
$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,45
$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,-59677.723
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,32
$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
$GPS1,145014,4806.892,-12222.630,8,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.3
$GPS2,145821,4806.827,-12222.564,11,1.6,11,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.232,0.119
$KALMAN_X,1117.9,234.2,163.0,128.7,102.5
$KALMAN_Y,1614.3,-185.2,-23.6,-4440.5,-26.3
$MHEAD_RNG_PITCHd_Wd,278.9,627,-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,18,begin dive
$GC,19,-1.25,-146.6,0.0,0.0,0,93,0.00,0.00,-71.30,0.000,2,0.000,0.000,12,2093,3217
$GC,95,-1.25,-146.6,3.7,-9.9,13,115,10.05,2.47,-3.70,0.000,4,0.225,0.062,2399,3514,3400
$GC,143,-1.25,-146.6,12.8,-13.0,21,149,0.00,2.30,0.00,0.000,6,0.000,0.030,2399,2089,3402
$GC,221,-1.25,-146.6,22.8,-12.7,33,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2089,3403
$GC,412,-1.25,-146.6,46.2,-12.0,51,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2089,3403
$GC,603,-1.25,-146.6,69.2,-12.1,69,607,0.00,2.38,0.00,0.000,4,0.000,0.050,2388,3513,3403
$GC,668,-1.25,-146.6,77.4,-11.9,74,676,0.00,2.28,0.00,0.000,6,0.000,0.029,2388,2097,3403
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,770,begin apogee
$GC,774,-0.29,0.0,90.1,12.3,84,893,1.12,0.00,112.93,0.799,6,0.137,0.000,2722,2095,2799
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,895,1.25,146.6,93.9,0.0,96,1013,1.52,0.00,111.68,0.682,6,0.085,0.000,3212,2094,2201
$GC,1331,1.25,146.6,51.0,10.8,138,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2095,2201
$GC,1650,1.25,146.6,17.2,10.4,170,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2095,2199
$GC,1723,1.25,148.3,9.9,9.9,183,1730,0.00,2.33,0.00,0.000,4,0.000,0.048,3212,3479,2199
$GC,1758,1.25,148.3,6.3,10.8,189,1764,0.00,2.25,0.00,0.000,6,0.000,0.032,3223,2078,2200
$STATE,1802,end climb,SURFACE_DEPTH_REACHED
$STATE,1802,begin surface coast
$FINISH,0.9,1.023914
$STATE,1826,end surface coast,CONTROL_FINISHED_OK
$STATE,1826,begin surface
$SM_CCo,1842,107.62,0.700,0,0,1373,350.04
$SM_GC,1.31,0.00,0.00,107.62,0.000,0.000,0.700,13,2072,1373,-8.77,-0.79,350.04
$IRIDIUM_FIX,4748.51,-12221.84,060907,181830
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,10.3
$24V_AH,24.4,10.706
$10V_AH,10.8,3.731
$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,22.000,14.000,224.600,107.625,0.000,74.953,101.523,178.313,0.250,0.000,0.000,12.656,338.977,931.186,375.854,396.202,419.308,33.336,612.571,0.000,410.850,0.000,2.469
$DEVICE_MAMPS,224.731,62.127,799.214,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,144.794,155.630,339.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9644,201
$CFSIZE,260165632,256843776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,153252,4806.966,-12222.792,11,4.4,30,18.3