version: 66.02
glider: 128
mission: 2
dive: 115
start: 9 9 107 21 24 28
data:
$ID,128
$MISSION,2
$DIVE,115
$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,-61466.312
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,36
$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
$GPS1,211908,4807.779,-12223.667,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,212327,4807.767,-12223.646,11,1.1,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.160
$KALMAN_X,9479.4,46.6,5.4,-9223.6,19.1
$KALMAN_Y,3282.7,148.7,81.9,-4806.0,139.6
$MHEAD_RNG_PITCHd_Wd,142.0,1629,-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,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,104,0.00,0.00,-81.03,0.000,6,0.000,0.000,16,2218,3399
$GC,106,-0.78,-146.6,3.9,-4.4,15,125,10.50,2.38,0.00,0.000,4,0.218,0.047,2554,3618,3403
$GC,426,-0.78,-146.6,35.0,-7.9,55,434,0.00,2.28,0.00,0.000,6,0.000,0.028,2553,2198,3405
$GC,624,-0.78,-146.6,48.2,-6.3,74,628,0.00,2.35,0.00,0.000,4,0.000,0.048,2550,3620,3405
$GC,808,-0.78,-146.6,60.8,-7.1,90,815,0.00,2.25,0.00,0.000,6,0.000,0.028,2550,2202,3405
$GC,1133,-0.78,-146.6,82.4,-6.5,121,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2200,3405
$STATE,1252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1257,-0.23,0.0,90.1,6.7,132,1374,0.60,0.00,113.47,0.810,6,0.115,0.000,2741,2198,2800
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,0.78,146.6,93.0,0.0,144,1494,1.00,0.00,112.10,0.714,6,0.084,0.000,3064,2198,2201
$GC,1808,0.78,146.6,65.7,7.0,185,1812,0.00,2.35,0.00,0.000,4,0.000,0.041,3068,765,2200
$GC,1852,0.78,146.6,62.7,7.2,189,1856,0.00,2.25,0.00,0.000,6,0.000,0.032,3068,2155,2200
$GC,2179,0.78,146.6,40.1,6.2,219,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2155,2199
$GC,2367,0.78,146.6,27.4,6.6,237,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2154,2199
$GC,2562,0.78,146.6,15.1,6.3,261,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2155,2199
$GC,2635,0.78,146.6,10.4,6.5,274,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2155,2198
$GC,2708,0.78,146.6,5.9,6.2,287,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2155,2198
$GC,2782,0.86,209.7,2.5,4.0,300,2800,0.00,0.00,16.05,0.857,2,0.000,0.000,3068,2155,2102
$STATE,2800,end climb,SURFACE_DEPTH_REACHED
$STATE,2800,begin surface coast
$FINISH,0.5,1.017845
$STATE,2862,end surface coast,CONTROL_FINISHED_OK
$STATE,2862,begin surface
$SM_CCo,2878,83.32,0.719,0,0,1372,350.04
$SM_GC,1.53,0.00,0.00,83.32,0.000,0.000,0.719,8,2221,1372,-8.79,0.31,350.04
$IRIDIUM_FIX,4751.72,-12226.29,100907,000031
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,20.2
$24V_AH,24.3,17.747
$10V_AH,10.8,7.164
$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,20.850,13.925,241.625,83.325,0.000,40.292,47.547,99.403,1.250,0.000,0.000,12.776,521.495,1428.767,360.993,665.594,269.647,33.335,704.464,0.000,674.031,0.000,12.939
$DEVICE_MAMPS,217.828,81.302,856.739,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.725,243.930,529.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15958,314
$CFSIZE,260165632,254480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,221453,4807.545,-12223.590,8,2.4,28,18.3