version: 66.03
glider: 128
mission: 2
dive: 876
start: 10 9 107 17 16 42
data:
$ID,128
$MISSION,2
$DIVE,876
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,40
$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,30
$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,530
$N_FILEKB,8
$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,-87130.023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$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,150
$AH0_10V,100
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,0.0001162386
$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,32
$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
$GPS1,165929,4805.924,-12222.138,8,2.8,27,18.3
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.7
$GPS2,171545,4805.937,-12222.128,14,1.7,14,18.3
$SPEED_LIMITS,0.231,0.284
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.248
$KALMAN_X,868.9,-12.5,-79.1,3490.3,2.0
$KALMAN_Y,-5081.7,-656.3,-52.4,-1849.2,7.6
$MHEAD_RNG_PITCHd_Wd,312.4,2245,-23.0,-13.333
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,37,-1.46,-146.6,0.0,0.0,0,98,0.00,0.00,-58.80,0.000,2,0.000,0.000,13,2365,1783
$GC,104,-1.46,-146.6,3.1,-1.5,11,160,9.27,2.33,-38.53,0.000,4,0.205,0.045,2293,959,3000
$GC,322,-1.46,-146.6,38.7,-19.5,49,329,0.00,2.28,0.00,0.000,6,0.000,0.034,2285,2344,3003
$GC,527,-1.46,-146.6,76.1,-17.8,73,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2344,3002
$STATE,691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,691,begin apogee
$GC,702,-0.28,0.0,107.0,17.5,89,820,1.30,0.00,113.70,0.742,6,0.133,0.000,2670,2184,2400
$STATE,820,end apogee,CONTROL_FINISHED_OK
$STATE,820,begin climb
$GC,826,1.46,146.6,113.6,0.0,101,947,1.73,2.47,112.32,0.696,4,0.079,0.041,3234,3616,1801
$GC,1021,1.46,146.6,93.9,15.8,119,1028,0.00,2.25,0.00,0.000,6,0.000,0.027,3244,2215,1800
$GC,1354,1.46,146.6,46.8,14.5,152,1360,0.00,2.28,0.00,0.000,4,0.000,0.036,3255,802,1799
$GC,1431,1.46,146.6,35.5,13.5,165,1437,0.00,2.25,0.00,0.000,6,0.000,0.031,3255,2206,1799
$GC,1647,1.51,191.3,9.2,10.6,202,1686,0.00,2.40,34.78,0.710,4,0.000,0.043,3255,3611,1619
$GC,1808,1.78,411.3,3.4,-0.1,229,1925,0.22,2.25,110.57,0.653,2,0.056,0.026,3353,2186,750
$STATE,1926,end climb,SURFACE_DEPTH_REACHED
$STATE,1926,begin surface coast
$FINISH,1.9,1.016625
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2116,63.42,0.656,0,0,238,530.09
$SM_GC,2.42,0.00,0.00,63.42,0.000,0.000,0.656,12,2362,238,-8.62,0.34,530.09
$IRIDIUM_FIX,4748.51,-12219.12,091007,212143
$TT8_MAMPS,0.026078
$HUMID,1826
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.8,42.1
$24V_AH,24.1,81.924
$10V_AH,10.7,38.929
$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,22.275,18.975,371.375,63.425,0.000,106.899,96.138,422.369,0.500,0.000,0.000,16.343,407.926,905.412,430.824,556.711,870.850,33.320,762.236,0.000,565.504,0.000,5.473
$DEVICE_MAMPS,204.789,45.253,741.689,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,201.156,205.170,471.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12792,279
$CFSIZE,260165632,234041344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,175414,4806.098,-12222.389,11,1.9,28,18.3