version: 66.02
glider: 128
mission: 2
dive: 39
start: 9 6 107 22 39 0
data:
$ID,128
$MISSION,2
$DIVE,39
$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,40
$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,-59938.004
$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,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$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
$GPS1,223246,4807.967,-12223.857,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.8
$GPS2,223805,4807.968,-12223.857,14,2.2,33,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.080,-0.222
$KALMAN_X,2469.1,282.1,-6.5,-2695.6,84.6
$KALMAN_Y,1173.0,-195.5,-65.5,-1836.5,66.2
$MHEAD_RNG_PITCHd_Wd,141.9,2083,-14.0,-7.500
$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,-0.82,-146.6,0.0,0.0,0,87,0.00,0.00,-66.30,0.000,2,0.000,0.000,10,2091,3060
$GC,90,-0.82,-146.6,3.3,-5.1,12,114,10.55,2.33,-6.97,0.000,4,0.222,0.055,2553,695,3399
$GC,356,-0.82,-146.6,28.0,-7.6,49,362,0.00,2.30,0.00,0.000,6,0.000,0.035,2553,2109,3401
$GC,552,-0.82,-146.6,41.8,-7.2,68,556,0.00,2.33,0.00,0.000,4,0.000,0.051,2546,3511,3401
$GC,592,-0.82,-146.6,44.5,-7.5,71,596,0.00,2.28,0.00,0.000,6,0.000,0.030,2546,2084,3401
$GC,789,-0.82,-146.6,58.1,-6.7,89,793,0.00,2.38,0.00,0.000,4,0.000,0.052,2545,3506,3402
$GC,816,-0.82,-146.6,59.9,-7.0,91,820,0.00,2.22,0.00,0.000,6,0.000,0.029,2545,2099,3402
$GC,1141,-0.82,-146.6,82.7,-7.0,121,1145,0.00,2.35,0.00,0.000,4,0.000,0.051,2545,3513,3402
$GC,1206,-0.82,-146.6,87.6,-7.2,126,1213,0.00,2.28,0.00,0.000,6,0.000,0.029,2545,2095,3402
$STATE,1247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1247,begin apogee
$GC,1251,-0.23,0.0,90.3,7.5,130,1368,0.60,0.00,112.60,0.837,6,0.115,0.000,2736,2094,2800
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1370,0.82,146.6,93.2,0.0,142,1488,1.05,0.00,111.85,0.690,6,0.084,0.000,3074,2093,2202
$GC,1806,0.83,159.2,66.2,7.1,184,1822,0.00,2.38,11.12,0.810,4,0.000,0.049,3074,3486,2150
$GC,1848,0.83,159.2,62.9,8.3,187,1856,0.00,2.33,0.00,0.000,6,0.000,0.031,3081,2088,2150
$GC,2174,0.84,164.9,39.0,7.3,218,2184,0.00,0.00,5.93,0.716,6,0.000,0.000,3081,2088,2127
$GC,2375,0.86,182.0,24.6,6.9,237,2395,0.00,0.00,14.40,0.832,6,0.000,0.000,3081,2088,2057
$GC,2595,0.87,191.4,9.2,7.2,270,2612,0.00,2.40,8.65,0.787,4,0.000,0.049,3081,3486,2019
$STATE,2712,end climb,SURFACE_DEPTH_REACHED
$STATE,2712,begin surface coast
$FINISH,1.7,1.023689
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2720,begin surface
$SM_CCo,2738,83.50,0.704,0,0,1373,350.04
$SM_GC,1.22,0.00,0.00,83.50,0.000,0.000,0.704,2,2091,1373,-8.81,-0.28,350.04
$IRIDIUM_FIX,4742.09,-12434.99,070907,010113
$TT8_MAMPS,0.026078
$HUMID,1841
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,18.4
$24V_AH,24.4,11.529
$10V_AH,10.8,4.078
$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,21.150,27.850,264.550,83.500,0.000,38.804,48.285,140.025,1.250,0.000,0.000,35.375,485.470,1357.551,398.858,617.552,301.932,33.343,711.427,0.000,605.245,0.000,12.697
$DEVICE_MAMPS,221.663,55.224,836.797,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,211.631,229.147,492.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12849,292
$CFSIZE,260165632,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060907,232645,4807.686,-12223.581,9,1.4,10,18.3