version: 66.03
glider: 128
mission: 2
dive: 941
start: 10 12 107 2 57 46
data:
$ID,128
$MISSION,2
$DIVE,941
$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,53
$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,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,514.1488
$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,-88816.516
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2780
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2500
$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
$GPS1,024857,4805.961,-12222.015,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-69.0
$GPS2,025644,4805.925,-12221.967,15,1.5,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.214
$KALMAN_X,-10532.8,-18.7,-230.8,11843.0,16.0
$KALMAN_Y,6427.7,-68.9,159.4,-7410.6,-181.5
$MHEAD_RNG_PITCHd_Wd,316.2,2366,-14.1,-7.547
$D_GRID,108
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-42.70,0.000,2,0.000,0.000,16,2325,1403
$GC,84,-0.96,-146.6,3.0,-1.8,8,153,10.15,2.47,-52.58,0.000,4,0.209,0.058,2454,3753,3100
$GC,462,-0.96,-146.6,37.5,-9.9,74,469,0.00,2.20,0.00,0.000,6,0.000,0.026,2454,2334,3102
$GC,675,-0.96,-146.6,59.1,-10.2,104,679,0.00,2.35,0.00,0.000,4,0.000,0.047,2445,3752,3102
$GC,723,-0.96,-146.6,64.3,-11.3,108,727,0.00,2.17,0.00,0.000,6,0.000,0.026,2444,2343,3102
$GC,1050,-0.96,-146.6,99.5,-11.2,138,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2342,3102
$STATE,1130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1130,begin apogee
$GC,1141,-0.28,0.0,108.7,11.0,146,1259,0.77,0.00,113.85,0.732,6,0.114,0.000,2685,2149,2500
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1265,0.96,146.6,113.9,0.0,158,1381,1.20,0.00,112.05,0.683,6,0.074,0.000,3083,2149,1902
$GC,1699,0.96,146.6,84.3,8.3,199,1703,0.00,2.33,0.00,0.000,4,0.000,0.043,3084,3549,1900
$GC,1751,0.96,146.6,79.7,8.7,203,1757,0.00,2.20,0.00,0.000,6,0.000,0.027,3094,2156,1900
$GC,2083,0.96,146.6,52.3,8.6,234,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2156,1900
$GC,2429,0.97,154.5,25.1,7.3,293,2442,0.00,2.40,7.82,0.741,4,0.000,0.043,3094,3559,1870
$GC,2474,0.97,154.5,21.7,7.6,300,2481,0.00,2.25,0.00,0.000,6,0.000,0.027,3105,2155,1870
$GC,2689,1.03,200.9,6.7,5.9,337,2734,0.00,2.33,35.85,0.706,4,0.000,0.038,3112,761,1680
$GC,2796,1.31,429.2,4.4,-0.4,355,2892,0.25,2.25,89.75,0.648,2,0.048,0.029,3218,2155,1193
$STATE,2893,end climb,NO_VERTICAL_VELOCITY
$STATE,2893,begin surface
$SM_CCo,2899,172.98,0.614,0,0,203,563.21
$SM_GC,2.57,9.32,0.00,0.00,0.043,0.000,0.000,17,2363,195,-8.58,0.37,565.42
$IRIDIUM_FIX,4748.51,-12227.28,121007,060616
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,83.4,42.5
$24V_AH,24.0,88.943
$10V_AH,10.7,41.774
$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,21.700,23.525,359.325,172.975,0.000,58.393,102.412,107.702,0.750,0.000,0.000,16.875,557.699,1334.513,537.048,728.582,511.557,33.352,930.100,0.000,740.200,0.000,6.930
$DEVICE_MAMPS,208.624,57.525,740.922,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.801,281.699,627.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19142,372
$CFSIZE,260165632,232316928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,035207,4806.089,-12222.109,31,1.0,31,18.3