version: 66.02
glider: 128
mission: 2
dive: 90
start: 9 8 107 21 59 51
data:
$ID,128
$MISSION,2
$DIVE,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,-60955.754
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,215429,4807.327,-12223.239,11,4.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.3
$GPS2,215850,4807.309,-12223.229,14,1.5,14,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.046,-0.163
$KALMAN_X,7538.7,18.2,-1.0,-6732.6,98.3
$KALMAN_Y,2919.9,110.2,75.8,-5249.3,17.8
$MHEAD_RNG_PITCHd_Wd,146.1,639,-13.2,-6.000
$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,-0.78,-146.6,0.0,0.0,0,94,0.00,0.00,-72.03,0.000,2,0.000,0.000,17,2137,3191
$GC,96,-0.78,-146.6,3.4,-3.4,13,120,10.52,2.47,-4.35,0.000,4,0.219,0.063,2554,3559,3402
$GC,423,-0.78,-146.6,31.0,-6.8,57,428,0.00,2.28,0.00,0.000,6,0.000,0.030,2554,2137,3404
$GC,620,-0.78,-146.6,44.5,-6.6,75,624,0.00,2.40,0.00,0.000,4,0.000,0.051,2552,3565,3404
$GC,752,-0.78,-146.6,53.5,-6.5,86,760,0.00,2.28,0.00,0.000,6,0.000,0.029,2553,2148,3405
$GC,1080,-0.78,-146.6,74.7,-6.3,117,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2148,3405
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1314,-0.23,0.0,90.3,6.8,139,1433,0.62,0.00,113.10,0.799,6,0.111,0.000,2748,2071,2800
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1435,0.78,146.6,92.9,0.0,151,1554,0.98,2.42,111.62,0.700,4,0.081,0.045,3070,686,2202
$GC,1594,0.78,146.6,85.2,7.3,166,1598,0.00,2.38,0.00,0.000,6,0.000,0.035,3070,2086,2201
$GC,1918,0.78,146.6,61.5,7.1,196,1922,0.00,2.35,0.00,0.000,4,0.000,0.049,3070,3492,2200
$GC,1972,0.78,146.6,57.1,7.9,200,1979,0.00,2.30,0.00,0.000,6,0.000,0.033,3077,2099,2199
$GC,2299,0.78,146.6,33.8,7.2,231,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2099,2199
$GC,2488,0.78,146.6,20.2,6.9,249,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2099,2199
$GC,2690,0.78,146.6,7.3,6.1,284,2697,0.00,2.33,0.00,0.000,4,0.000,0.051,3077,3497,2199
$GC,2708,0.78,150.4,6.2,5.9,287,2720,0.00,2.30,4.10,0.584,6,0.000,0.035,3078,2069,2185
$GC,2788,0.86,211.1,3.0,4.0,301,2834,0.00,2.40,40.88,0.832,4,0.000,0.045,3078,675,1938
$STATE,2838,end climb,SURFACE_DEPTH_REACHED
$STATE,2838,begin surface coast
$FINISH,0.7,1.024227
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2892,66.47,0.673,0,0,1372,350.04
$SM_GC,1.28,0.00,0.00,66.47,0.000,0.000,0.673,5,2163,1372,-8.80,0.37,350.04
$IRIDIUM_FIX,7926.36,-7541.98,090907,000050
$TT8_MAMPS,0.026845
$HUMID,1860
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,45.8
$24V_AH,24.4,15.765
$10V_AH,10.8,6.149
$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,21.050,28.450,269.700,66.475,0.000,38.973,47.645,98.930,0.250,0.000,0.000,15.615,522.082,1423.821,363.945,671.814,264.092,33.350,718.856,0.000,681.622,0.000,2.513
$DEVICE_MAMPS,218.595,95.108,832.195,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.595,242.546,533.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16026,316
$CFSIZE,260165632,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,225008,4807.067,-12223.176,23,1.2,24,18.3