version: 66.02
glider: 128
mission: 2
dive: 61
start: 9 7 107 18 45 25
data:
$ID,128
$MISSION,2
$DIVE,61
$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,45
$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,-60385.414
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,183623,4807.751,-12223.698,8,2.5,28,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.7
$GPS2,184428,4807.722,-12223.627,14,2.7,33,18.3
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.099,-0.203
$KALMAN_X,5008.6,161.3,102.7,-4940.6,53.2
$KALMAN_Y,1070.9,-3.8,77.8,-2523.4,-1.1
$MHEAD_RNG_PITCHd_Wd,135.8,1546,-12.4,-6.667
$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,-0.75,-146.6,0.0,0.0,0,98,0.00,0.00,-76.70,0.000,2,0.000,0.000,13,2175,3308
$GC,100,-0.75,-146.6,3.6,-4.9,14,119,10.68,2.33,-1.75,0.000,4,0.223,0.063,2563,3546,3399
$GC,422,-0.75,-146.6,32.5,-7.0,55,429,0.00,2.25,0.00,0.000,6,0.000,0.030,2562,2140,3401
$GC,619,-0.75,-146.6,45.3,-6.6,74,623,0.00,2.38,0.00,0.000,4,0.000,0.052,2562,3551,3402
$GC,725,-0.75,-146.6,52.5,-6.6,83,729,0.00,2.25,0.00,0.000,6,0.000,0.029,2562,2141,3401
$GC,1050,-0.75,-146.6,73.4,-6.3,113,1054,0.00,2.35,0.00,0.000,4,0.000,0.053,2562,3548,3401
$GC,1081,-0.75,-146.6,75.6,-6.1,115,1089,0.00,2.25,0.00,0.000,6,0.000,0.029,2562,2145,3401
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1313,-0.23,0.0,90.5,6.4,137,1432,0.57,0.00,113.28,0.836,6,0.112,0.000,2741,2074,2799
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1435,0.75,146.6,93.2,0.0,149,1554,0.98,2.45,111.35,0.695,4,0.083,0.046,3064,672,2202
$GC,1593,0.75,146.6,86.1,6.8,164,1597,0.00,2.38,0.00,0.000,6,0.000,0.036,3064,2070,2202
$GC,1918,0.75,146.6,64.0,7.0,194,1922,0.00,2.38,0.00,0.000,4,0.000,0.051,3064,3488,2200
$GC,1994,0.75,146.6,57.9,8.1,200,2002,0.00,2.30,0.00,0.000,6,0.000,0.033,3068,2093,2200
$GC,2322,0.76,162.1,36.8,6.2,231,2345,0.00,2.42,12.93,0.842,4,0.000,0.052,3067,3493,2138
$GC,2360,0.76,162.1,34.0,7.6,234,2368,0.00,2.35,0.00,0.000,6,0.000,0.034,3073,2077,2138
$GC,2558,0.77,163.0,20.0,6.6,253,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2077,2137
$GC,2760,0.78,172.0,6.8,6.4,288,2778,0.00,2.42,9.00,0.810,4,0.000,0.052,3073,3485,2098
$GC,2806,0.78,172.0,3.9,6.8,296,2812,0.00,2.30,0.00,0.000,6,0.000,0.034,3079,2066,2097
$STATE,2856,end climb,SURFACE_DEPTH_REACHED
$STATE,2856,begin surface coast
$FINISH,0.4,1.024163
$STATE,2930,end surface coast,CONTROL_FINISHED_OK
$STATE,2930,begin surface
$SM_CCo,2946,95.35,0.718,0,0,1373,350.04
$SM_GC,1.39,0.00,0.00,95.35,0.000,0.000,0.718,6,2178,1373,-8.80,0.76,350.04
$IRIDIUM_FIX,4751.72,-12219.12,070907,212129
$TT8_MAMPS,0.026078
$HUMID,1835
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,49.7
$24V_AH,24.4,13.401
$10V_AH,10.8,4.961
$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,21.000,33.050,246.550,95.350,0.000,81.570,135.713,113.050,0.250,0.000,0.000,36.654,531.524,1514.011,384.804,709.462,409.028,33.348,747.365,0.000,698.254,0.000,2.520
$DEVICE_MAMPS,223.197,77.467,842.166,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,228.046,245.906,536.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15972,318
$CFSIZE,260165632,255979520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,193707,4807.486,-12223.428,10,1.6,27,18.3