version: 66.02
glider: 128
mission: 2
dive: 28
start: 9 6 107 14 17 11
data:
$ID,128
$MISSION,2
$DIVE,28
$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,30
$T_MISSION,45
$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,-59660.547
$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,17
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,141151,4806.767,-12222.457,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.1
$GPS2,141614,4806.743,-12222.424,12,1.6,12,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.228,0.126
$KALMAN_X,916.8,191.8,183.0,526.6,110.1
$KALMAN_Y,1661.2,-162.5,-26.1,-4663.4,-26.2
$MHEAD_RNG_PITCHd_Wd,280.7,856,-18.2,-10.000
$D_GRID,107
$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,-1.25,-146.6,0.0,0.0,0,93,0.00,0.00,-71.50,0.000,2,0.000,0.000,4,2061,3206
$GC,95,-1.25,-146.6,3.8,-10.5,13,113,10.07,0.00,-3.97,0.000,6,0.224,0.000,2411,2058,3400
$GC,180,-1.25,-146.6,17.3,-12.2,28,187,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,3509,3401
$GC,238,-1.25,-146.6,24.6,-13.3,35,242,0.00,2.30,0.00,0.000,6,0.000,0.029,2401,2079,3402
$GC,434,-1.25,-146.6,47.7,-9.7,53,438,0.00,2.40,0.00,0.000,4,0.000,0.049,2391,3515,3402
$GC,466,-1.25,-146.6,50.7,-9.7,55,473,0.00,2.30,0.00,0.000,6,0.000,0.030,2391,2095,3402
$STATE,792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,792,begin apogee
$GC,796,-0.29,0.0,90.8,12.2,86,913,1.08,0.00,112.35,0.793,6,0.138,0.000,2715,2092,2800
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,915,1.25,146.6,94.8,0.0,98,1034,1.55,2.45,111.15,0.684,4,0.086,0.043,3223,683,2202
$GC,1091,1.25,146.6,81.3,11.4,114,1097,0.00,2.35,0.00,0.000,6,0.000,0.034,3223,2089,2201
$GC,1415,1.25,146.6,43.6,11.8,145,1419,0.00,2.33,0.00,0.000,4,0.000,0.048,3223,3489,2201
$GC,1454,1.25,146.6,39.4,11.2,148,1458,0.00,2.28,0.00,0.000,6,0.000,0.032,3233,2089,2200
$GC,1651,1.25,146.6,17.4,11.0,168,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2088,2200
$GC,1724,1.25,146.6,9.5,11.0,181,1730,0.00,2.33,0.00,0.000,4,0.000,0.048,3233,3486,2200
$STATE,1792,end climb,SURFACE_DEPTH_REACHED
$STATE,1793,begin surface coast
$FINISH,0.4,1.022655
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1828,103.55,0.706,0,0,1371,350.04
$SM_GC,1.29,0.00,0.00,103.55,0.000,0.000,0.706,12,2093,1371,-8.78,-0.20,350.04
$IRIDIUM_FIX,4751.72,-12226.29,060907,171741
$TT8_MAMPS,0.026078
$HUMID,1842
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.6,9.8
$24V_AH,24.4,10.621
$10V_AH,10.8,3.701
$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,21.875,23.450,223.500,103.550,0.000,38.153,63.142,97.380,0.500,0.000,0.000,13.923,340.942,841.244,362.380,419.463,256.258,33.333,616.358,0.000,426.792,0.000,2.467
$DEVICE_MAMPS,223.964,50.622,793.078,705.640,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,140.832,152.414,330.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9650,196
$CFSIZE,260165632,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,145014,4806.892,-12222.630,8,1.7,13,18.3