version: 66.02
glider: 128
mission: 2
dive: 60
start: 9 7 107 17 45 19
data:
$ID,128
$MISSION,2
$DIVE,60
$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,45
$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,-60348.133
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,174009,4807.997,-12224.004,9,1.1,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.1
$GPS2,174421,4807.990,-12223.962,10,1.5,10,18.3
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.097,-0.204
$KALMAN_X,4859.2,144.5,122.6,-5208.0,79.4
$KALMAN_Y,1035.3,1.6,56.3,-1973.8,26.6
$MHEAD_RNG_PITCHd_Wd,136.4,2186,-12.4,-6.667
$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,-0.75,-146.6,0.0,0.0,0,93,0.00,0.00,-71.75,0.000,2,0.000,0.000,7,2137,3166
$GC,96,-0.75,-146.6,3.2,-3.9,13,120,10.73,2.47,-4.97,0.000,4,0.223,0.065,2563,3557,3400
$GC,412,-0.75,-146.6,30.5,-6.8,56,416,0.00,2.28,0.00,0.000,6,0.000,0.031,2563,2140,3403
$GC,609,-0.75,-146.6,44.0,-6.7,74,613,0.00,2.38,0.00,0.000,4,0.000,0.053,2563,3554,3403
$GC,659,-0.75,-146.6,47.6,-7.1,78,663,0.00,2.25,0.00,0.000,6,0.000,0.029,2563,2142,3403
$GC,855,-0.75,-146.6,60.9,-7.1,96,859,0.00,2.38,0.00,0.000,4,0.000,0.054,2563,3557,3403
$GC,920,-0.75,-146.6,65.4,-6.6,101,928,0.00,2.25,0.00,0.000,6,0.000,0.029,2563,2156,3402
$GC,1247,-0.75,-146.6,87.0,-6.7,132,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2156,3403
$STATE,1297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1297,begin apogee
$GC,1301,-0.23,0.0,90.4,6.5,137,1420,0.57,0.00,113.22,0.829,6,0.111,0.000,2742,2071,2799
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1422,0.75,146.6,93.2,0.0,149,1541,0.98,2.42,111.47,0.701,4,0.083,0.047,3065,687,2202
$GC,1559,0.76,156.8,87.5,6.4,162,1574,0.00,2.38,9.60,0.755,6,0.000,0.035,3065,2079,2160
$GC,1899,0.76,156.8,64.0,6.7,194,1903,0.00,2.35,0.00,0.000,4,0.000,0.051,3065,3484,2160
$GC,2065,0.76,156.8,51.3,7.8,208,2073,0.00,2.30,0.00,0.000,6,0.000,0.033,3067,2087,2159
$GC,2391,0.76,162.3,30.0,6.5,239,2403,0.00,2.35,5.72,0.712,4,0.000,0.051,3067,3485,2137
$GC,2459,0.76,162.3,24.8,7.7,245,2463,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,2079,2137
$GC,2663,0.80,187.7,11.5,5.9,274,2687,0.00,0.00,20.48,0.853,6,0.000,0.000,3068,2079,2034
$GC,2754,0.80,190.0,5.7,6.6,290,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2079,2033
$GC,2827,0.94,308.0,2.7,3.0,303,2852,0.15,0.00,21.62,0.840,2,0.060,0.000,3147,2078,1919
$STATE,2852,end climb,SURFACE_DEPTH_REACHED
$STATE,2852,begin surface coast
$FINISH,0.5,1.012439
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2936,64.93,0.700,0,0,1372,350.04
$SM_GC,1.46,0.00,0.00,64.93,0.000,0.000,0.700,12,2175,1372,-8.78,0.71,350.04
$IRIDIUM_FIX,4751.72,-12226.29,070907,202032
$TT8_MAMPS,0.026845
$HUMID,1841
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,50.2
$24V_AH,24.3,13.312
$10V_AH,10.8,4.917
$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,21.500,28.325,282.125,64.925,0.000,37.681,46.120,99.022,0.250,0.000,0.000,12.123,531.264,1420.218,367.402,694.961,263.109,33.355,741.272,0.000,708.608,0.000,2.520
$DEVICE_MAMPS,223.197,68.263,852.904,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.443,247.398,538.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15998,319
$CFSIZE,260165632,256008192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,183623,4807.751,-12223.698,8,2.5,28,18.3