version: 66.02
glider: 128
mission: 2
dive: 40
start: 9 6 107 23 32 5
data:
$ID,128
$MISSION,2
$DIVE,40
$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,40
$T_MISSION,60
$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,-59950.68
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$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
$GPS1,232645,4807.686,-12223.581,9,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,233109,4807.684,-12223.579,10,1.7,10,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.081,-0.222
$KALMAN_X,2607.3,258.5,22.7,-2497.1,59.7
$KALMAN_Y,1125.7,-161.4,-35.9,-2375.4,80.3
$MHEAD_RNG_PITCHd_Wd,141.5,1455,-14.0,-7.500
$D_GRID,105
$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,-0.82,-146.6,0.0,0.0,0,87,0.00,0.00,-65.97,0.000,2,0.000,0.000,3,2091,3050
$GC,90,-0.82,-146.6,3.2,-5.1,12,114,10.65,2.33,-7.47,0.000,4,0.224,0.055,2549,689,3399
$GC,343,-0.82,-146.6,27.2,-7.7,49,351,0.00,2.33,0.00,0.000,6,0.000,0.035,2549,2098,3402
$GC,541,-0.82,-146.6,41.1,-7.1,68,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3402
$GC,732,-0.82,-146.6,54.5,-7.1,86,736,0.00,2.35,0.00,0.000,4,0.000,0.052,2545,3516,3403
$GC,787,-0.82,-146.6,58.4,-6.7,90,794,0.00,2.30,0.00,0.000,6,0.000,0.030,2546,2085,3403
$GC,1113,-0.82,-146.6,81.3,-6.9,121,1117,0.00,2.38,0.00,0.000,4,0.000,0.051,2545,3514,3403
$GC,1174,-0.82,-146.6,85.8,-7.2,126,1178,0.00,2.25,0.00,0.000,6,0.000,0.030,2545,2089,3403
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1241,-0.23,0.0,90.4,6.8,132,1361,0.65,0.00,112.75,0.834,6,0.116,0.000,2746,2089,2800
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1363,0.82,146.6,93.1,0.0,144,1481,1.02,0.00,111.75,0.692,6,0.082,0.000,3079,2089,2202
$GC,1798,0.83,156.9,66.0,7.1,186,1813,0.00,2.40,9.45,0.796,4,0.000,0.049,3079,3493,2160
$GC,1842,0.83,156.9,62.8,7.8,190,1847,0.00,2.30,0.00,0.000,6,0.000,0.031,3084,2089,2159
$GC,2167,0.84,164.2,39.3,7.2,220,2179,0.00,2.42,7.15,0.762,4,0.000,0.049,3084,3493,2130
$GC,2213,0.84,164.2,35.7,8.5,224,2217,0.00,2.30,0.00,0.000,6,0.000,0.031,3091,2074,2130
$GC,2410,0.84,167.4,21.0,7.4,242,2420,0.00,0.00,4.12,0.600,6,0.000,0.000,3092,2074,2117
$GC,2621,0.87,185.1,6.2,6.9,278,2638,0.00,0.00,14.52,0.826,6,0.000,0.000,3091,2074,2045
$GC,2706,1.02,311.3,2.1,3.2,293,2714,0.15,0.00,5.35,0.683,2,0.060,0.000,3168,2074,2017
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,0.4,1.011317
$STATE,2798,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2814,80.57,0.695,0,0,1373,350.04
$SM_GC,1.06,0.00,0.00,80.57,0.000,0.000,0.695,2,2071,1373,-8.81,-0.85,350.04
$IRIDIUM_FIX,4751.72,-12220.85,070907,020207
$TT8_MAMPS,0.026078
$HUMID,1873
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.5,49.4
$24V_AH,24.4,11.612
$10V_AH,10.8,4.117
$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,21.575,23.350,265.100,80.575,0.000,39.650,68.894,86.439,0.500,0.000,0.000,12.047,509.384,1390.574,385.629,624.559,270.966,33.349,713.867,0.000,642.287,0.000,2.518
$DEVICE_MAMPS,223.964,55.224,834.496,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.246,240.673,521.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,309
$CFSIZE,260165632,256561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,002123,4807.379,-12223.296,9,5.0,28,18.3