version: 66.02
glider: 128
mission: 2
dive: 114
start: 9 9 107 20 27 59
data:
$ID,128
$MISSION,2
$DIVE,114
$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,-61452.906
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,202305,4807.986,-12223.917,5,2.3,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,202657,4807.984,-12223.911,13,1.1,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,-0.159
$KALMAN_X,9265.0,78.8,43.4,-9405.3,-12.4
$KALMAN_Y,3340.0,83.5,3.7,-4320.4,218.4
$MHEAD_RNG_PITCHd_Wd,141.8,2143,-13.2,-6.000
$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,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-77.43,0.000,2,0.000,0.000,6,2229,3309
$GC,101,-0.78,-146.6,3.7,-3.8,14,120,10.57,2.40,-1.75,0.000,4,0.219,0.056,2562,791,3399
$GC,311,-0.78,-146.6,25.3,-7.1,45,318,0.00,2.33,0.00,0.000,6,0.000,0.038,2562,2214,3401
$GC,508,-0.78,-146.6,37.9,-6.3,64,512,0.00,2.30,0.00,0.000,4,0.000,0.038,2562,797,3401
$GC,551,-0.78,-146.6,40.7,-6.5,67,558,0.00,2.33,0.00,0.000,6,0.000,0.035,2562,2215,3401
$GC,749,-0.78,-146.6,53.5,-6.3,86,753,0.00,2.33,0.00,0.000,4,0.000,0.051,2561,3623,3401
$GC,780,-0.78,-146.6,55.6,-6.2,88,788,0.00,2.30,0.00,0.000,6,0.000,0.029,2560,2185,3401
$GC,1106,-0.78,-146.6,76.0,-6.4,119,1110,0.00,2.38,0.00,0.000,4,0.000,0.048,2554,3618,3401
$GC,1137,-0.78,-146.6,78.2,-6.8,121,1145,0.00,2.25,0.00,0.000,6,0.000,0.028,2553,2201,3401
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1327,-0.23,0.0,90.1,6.4,139,1446,0.62,0.00,113.15,0.818,6,0.114,0.000,2748,2198,2800
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1449,0.78,146.6,92.6,0.0,151,1567,1.00,0.00,112.65,0.716,6,0.081,0.000,3066,2198,2201
$GC,1884,0.78,146.6,65.1,7.2,193,1888,0.00,2.35,0.00,0.000,4,0.000,0.043,3073,764,2200
$GC,1911,0.78,146.6,63.3,7.1,195,1918,0.00,2.28,0.00,0.000,6,0.000,0.033,3073,2165,2199
$GC,2236,0.78,146.6,42.3,6.3,226,2240,0.00,2.28,0.00,0.000,4,0.000,0.046,3073,3554,2199
$GC,2402,0.78,146.6,29.4,7.5,240,2410,0.00,2.25,0.00,0.000,6,0.000,0.030,3082,2161,2198
$GC,2603,0.78,146.6,15.9,6.6,264,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2161,2198
$GC,2676,0.78,146.6,11.1,6.7,277,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2161,2198
$GC,2749,0.78,146.6,6.1,6.9,290,2756,0.00,2.28,0.00,0.000,4,0.000,0.043,3083,751,2198
$GC,2778,0.78,146.6,4.4,6.2,295,2785,0.00,2.25,0.00,0.000,6,0.000,0.033,3083,2162,2198
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2840,begin surface coast
$FINISH,0.4,1.016446
$STATE,2903,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2919,103.35,0.743,0,0,1372,350.04
$SM_GC,1.10,0.00,0.00,103.35,0.000,0.000,0.743,16,2217,1372,-8.76,0.23,350.04
$IRIDIUM_FIX,4751.72,-12226.29,090907,232358
$TT8_MAMPS,0.026845
$HUMID,1841
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,45.3
$24V_AH,24.3,17.669
$10V_AH,10.8,7.124
$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,20.875,32.325,225.800,103.350,0.000,39.621,31.371,88.516,0.250,0.000,0.000,15.036,532.058,1453.028,402.030,652.538,242.761,33.332,741.252,0.000,666.447,0.000,2.514
$DEVICE_MAMPS,219.362,96.642,818.389,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.691,247.631,534.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16014,317
$CFSIZE,260165632,254504960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,211908,4807.779,-12223.667,12,1.6,12,18.3