version: 66.02
glider: 128
mission: 2
dive: 116
start: 9 9 107 22 20 41
data:
$ID,128
$MISSION,2
$DIVE,116
$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,-61501.375
$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,60
$R_STBD_OVSHOOT,38
$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
$GPS1,221453,4807.545,-12223.590,8,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.9
$GPS2,221941,4807.529,-12223.572,13,2.2,32,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,-0.146
$KALMAN_X,9451.1,23.1,-14.2,-9057.3,26.8
$KALMAN_Y,3220.0,199.4,138.5,-5290.7,40.2
$MHEAD_RNG_PITCHd_Wd,131.1,1209,-13.2,-6.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,104,0.00,0.00,-81.43,0.000,6,0.000,0.000,8,2221,3399
$GC,106,-0.78,-146.6,3.7,-4.0,15,125,10.50,2.35,0.00,0.000,4,0.218,0.047,2551,3608,3403
$GC,428,-0.78,-146.6,33.0,-7.1,56,434,0.00,2.20,0.00,0.000,6,0.000,0.029,2551,2211,3404
$GC,625,-0.78,-146.6,46.4,-6.7,75,629,0.00,2.33,0.00,0.000,4,0.000,0.048,2544,3610,3405
$GC,815,-0.78,-146.6,59.7,-6.9,91,821,0.00,2.22,0.00,0.000,6,0.000,0.028,2543,2207,3405
$GC,1141,-0.78,-146.6,80.7,-6.7,122,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2206,3405
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1275,begin apogee
$GC,1280,-0.23,0.0,90.0,6.5,135,1399,0.65,0.00,113.30,0.797,6,0.117,0.000,2745,2204,2799
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1401,0.78,146.6,92.3,0.0,147,1520,0.98,2.47,111.90,0.713,4,0.083,0.040,3067,770,2202
$GC,1560,0.78,146.6,84.4,6.9,162,1564,0.00,2.30,0.00,0.000,6,0.000,0.031,3068,2148,2201
$GC,1885,0.78,146.6,60.7,7.0,192,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2148,2200
$GC,2202,0.78,146.6,37.9,7.3,222,2206,0.00,2.33,0.00,0.000,4,0.000,0.046,3067,3562,2199
$GC,2234,0.78,146.6,35.3,7.6,224,2242,0.00,2.25,0.00,0.000,6,0.000,0.030,3076,2167,2199
$GC,2432,0.78,146.6,22.1,7.0,243,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2165,2199
$GC,2633,0.78,146.6,8.5,6.8,276,2639,0.00,2.28,0.00,0.000,4,0.000,0.041,3081,750,2198
$GC,2678,0.78,146.6,5.6,6.3,284,2685,0.00,2.25,0.00,0.000,6,0.000,0.033,3080,2161,2198
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,0.9,1.024724
$STATE,2791,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2808,93.45,0.746,0,0,1372,350.04
$SM_GC,1.05,0.00,0.00,93.45,0.000,0.000,0.746,16,2220,1372,-8.76,0.25,350.04
$IRIDIUM_FIX,4751.72,-12157.59,100907,010147
$TT8_MAMPS,0.026078
$HUMID,1835
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.6,44.3
$24V_AH,24.4,17.825
$10V_AH,10.8,7.205
$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,20.925,23.025,225.200,93.450,0.000,39.819,47.272,105.914,0.250,0.000,0.000,34.434,508.925,1397.434,359.718,674.909,273.731,33.339,698.293,0.000,665.281,0.000,2.513
$DEVICE_MAMPS,217.828,95.108,796.913,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.275,235.882,513.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,304
$CFSIZE,260165632,254455808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,230950,4807.335,-12223.414,13,2.0,13,18.3