version: 66.02
glider: 128
mission: 2
dive: 64
start: 9 7 107 21 34 7
data:
$ID,128
$MISSION,2
$DIVE,64
$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,0.0041149999
$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,-60452.289
$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,41
$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
$GPS1,212850,4807.079,-12222.884,10,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.7
$GPS2,213308,4807.057,-12222.894,11,1.7,11,18.3
$SPEED_LIMITS,0.067,0.180
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.038,-0.060
$KALMAN_X,5172.0,169.2,-18.9,-4085.1,-26.6
$KALMAN_Y,1382.6,-7.9,60.4,-4046.8,58.4
$MHEAD_RNG_PITCHd_Wd,194.1,168,-40.7,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.88,-22.4,0.0,0.0,0,87,0.00,0.00,-62.55,0.000,6,0.000,0.000,4,2164,2892
$GC,90,-1.91,-44.9,2.4,-2.1,12,109,9.18,2.35,-2.35,0.000,4,0.222,0.061,2192,3546,2983
$GC,410,-1.91,-44.9,36.2,-8.6,52,418,0.00,2.28,0.00,0.000,6,0.000,0.029,2192,2143,2987
$GC,608,-1.91,-44.9,50.8,-7.3,71,612,0.00,2.35,0.00,0.000,4,0.000,0.048,2181,3556,2988
$GC,914,-1.91,-44.9,74.8,-8.0,98,922,0.00,2.25,0.00,0.000,6,0.000,0.029,2181,2150,2988
$STATE,1121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1125,-0.23,0.0,90.3,7.9,118,1167,1.98,0.00,37.22,0.920,6,0.163,0.000,2742,2079,2800
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1169,1.91,44.9,91.4,0.0,122,1213,2.05,2.38,35.60,0.757,4,0.078,0.044,3439,683,2616
$GC,1370,1.91,44.9,74.5,10.2,140,1375,0.00,2.30,0.00,0.000,6,0.000,0.035,3439,2079,2616
$GC,1695,1.91,44.9,41.2,10.1,170,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2078,2615
$GC,1885,1.91,44.9,23.5,8.8,188,1889,0.00,2.33,0.00,0.000,4,0.000,0.048,3439,3492,2615
$GC,1975,1.91,44.9,15.3,9.3,200,1981,0.00,2.25,0.00,0.000,6,0.000,0.033,3450,2089,2615
$GC,2049,1.91,44.9,9.5,7.7,213,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2089,2615
$GC,2122,1.91,45.0,4.5,6.6,226,2129,0.00,2.30,0.00,0.000,4,0.000,0.044,3460,668,2614
$GC,2136,1.92,53.4,4.3,5.0,228,2148,0.00,2.28,6.95,0.736,6,0.000,0.036,3460,2080,2582
$GC,2216,1.98,106.1,6.6,-3.9,242,2262,0.00,2.45,40.50,0.828,4,0.000,0.044,3470,669,2367
$STATE,2385,end climb,SURFACE_DEPTH_REACHED
$STATE,2385,begin surface coast
$FINISH,2.4,1.024185
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2436,begin surface
$SM_CCo,2438,250.20,0.650,0,0,203,636.80
$SM_GC,1.18,10.18,0.00,0.00,0.045,0.000,0.000,21,2161,195,-8.69,0.31,639.01
$IRIDIUM_FIX,4751.72,-12225.30,080907,000032
$TT8_MAMPS,0.026078
$HUMID,1871
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,56.8
$24V_AH,24.8,13.651
$10V_AH,10.8,5.081
$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,23.375,28.150,120.275,250.200,0.000,40.523,55.665,92.694,0.250,0.000,0.000,12.979,496.902,1255.517,433.777,634.594,258.656,33.347,748.534,0.000,645.701,0.000,2.529
$DEVICE_MAMPS,222.430,77.467,919.633,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,199.952,210.773,474.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12794,281
$CFSIZE,260165632,255901696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,222127,4807.043,-12223.010,9,1.5,9,18.3