version: 66.02
glider: 128
mission: 2
dive: 42
start: 9 7 107 1 27 52
data:
$ID,128
$MISSION,2
$DIVE,42
$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,-59989.801
$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,34
$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
$GPS1,012303,4807.083,-12222.948,11,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.3
$GPS2,012657,4807.079,-12222.948,11,1.7,11,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,-0.056,-0.052
$KALMAN_X,2967.0,195.5,49.4,-2042.6,73.2
$KALMAN_Y,902.9,-75.1,46.0,-3442.6,-20.4
$MHEAD_RNG_PITCHd_Wd,208.5,159,-42.6,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.96,-17.6,0.0,0.0,0,87,0.00,0.00,-61.70,0.000,6,0.000,0.000,11,2089,2872
$GC,90,-1.98,-31.9,2.8,-3.5,12,108,9.15,2.35,-1.40,0.000,4,0.226,0.056,2182,693,2933
$GC,410,-1.98,-32.5,31.3,-7.3,55,418,0.00,2.33,0.00,0.000,6,0.000,0.034,2174,2109,2934
$GC,608,-1.98,-34.7,45.2,-6.9,74,612,0.00,2.30,0.00,0.000,4,0.000,0.041,2174,690,2935
$GC,915,-1.98,-35.1,67.7,-7.4,101,922,0.00,2.30,0.00,0.000,6,0.000,0.035,2164,2107,2935
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1243,-0.23,0.0,90.6,6.8,132,1274,2.00,0.00,26.98,0.890,6,0.166,0.000,2735,2108,2800
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1276,1.98,35.1,91.5,0.0,135,1312,2.10,2.35,28.33,0.861,4,0.080,0.046,3455,3491,2656
$GC,1614,1.98,35.1,61.3,9.2,165,1622,0.00,2.33,0.00,0.000,6,0.000,0.031,3467,2072,2654
$GC,1942,1.98,36.4,36.0,7.1,196,1946,0.00,2.35,0.00,0.000,4,0.000,0.046,3466,3493,2655
$GC,2216,1.99,40.7,17.2,6.3,223,2229,0.00,2.28,5.65,0.709,6,0.000,0.032,3477,2069,2633
$GC,2296,1.99,45.9,12.3,6.0,237,2309,0.00,2.35,6.07,0.736,4,0.000,0.047,3477,3493,2612
$GC,2326,2.00,48.9,10.4,6.6,242,2338,0.00,2.28,4.12,0.607,6,0.000,0.033,3488,2077,2599
$GC,2406,2.01,57.2,5.8,5.2,256,2417,0.00,0.00,7.50,0.782,6,0.000,0.000,3488,2077,2566
$GC,2485,2.03,77.0,4.1,1.9,270,2508,0.00,2.40,15.30,0.827,4,0.000,0.048,3488,3478,2485
$GC,2655,2.06,100.3,3.3,0.9,300,2674,0.00,2.28,14.05,0.818,2,0.000,0.032,3499,2071,2413
$STATE,2675,end climb,NO_VERTICAL_VELOCITY
$STATE,2675,begin surface
$SM_CCo,2677,252.50,0.634,0,0,203,636.80
$SM_GC,1.12,10.30,0.00,0.00,0.047,0.000,0.000,6,2067,196,-8.70,-0.93,639.01
$IRIDIUM_FIX,4751.72,-12223.57,070907,040439
$TT8_MAMPS,0.026078
$HUMID,1852
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,51.4
$24V_AH,25.0,11.786
$10V_AH,10.8,4.202
$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,23.550,27.875,108.000,252.500,0.000,40.511,36.862,88.624,0.250,0.000,0.000,12.723,533.798,1379.435,426.731,710.478,240.226,33.335,772.763,0.000,726.723,0.000,2.522
$DEVICE_MAMPS,226.265,55.991,890.487,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.612,234.600,511.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15951,303
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,021938,4806.964,-12222.854,36,1.0,37,18.3