version: 66.03
glider: 128
mission: 2
dive: 950
start: 10 12 107 13 37 59
data:
$ID,128
$MISSION,2
$DIVE,950
$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,563.2088
$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,-89111.234
$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,59
$R_STBD_OVSHOOT,43
$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
$GPS1,132807,4806.558,-12222.843,17,1.4,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-69.4
$GPS2,133657,4806.568,-12222.868,11,1.5,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.236
$KALMAN_X,-9878.5,230.5,167.2,9428.6,-190.0
$KALMAN_Y,3469.8,-549.7,-332.2,-2289.7,134.1
$MHEAD_RNG_PITCHd_Wd,344.6,817,-14.1,-7.547
$D_GRID,101
$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,33,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-42.90,0.000,2,0.000,0.000,18,2358,1383
$GC,85,-0.96,-146.6,3.0,-1.5,8,158,9.98,0.00,-59.28,0.000,6,0.202,0.000,2466,2358,3099
$GC,229,-0.96,-146.6,12.8,-10.1,33,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2359,3102
$GC,306,-0.96,-146.6,20.5,-9.7,46,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2358,3102
$GC,518,-0.96,-146.6,41.4,-9.9,83,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2359,3101
$GC,722,-0.96,-146.6,62.2,-10.3,109,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2359,3102
$GC,1041,-0.96,-146.6,95.6,-10.5,139,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2359,3102
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1098,-0.28,0.0,101.0,10.6,144,1216,0.68,0.00,113.95,0.734,6,0.105,0.000,2682,2139,2500
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1222,0.96,146.6,106.5,0.0,156,1342,1.23,2.33,112.12,0.689,4,0.074,0.037,3096,765,1900
$GC,1392,0.96,146.6,98.9,7.7,171,1397,0.00,2.28,0.00,0.000,6,0.000,0.030,3096,2155,1899
$GC,1730,0.96,146.6,71.3,8.2,202,1734,0.00,2.30,0.00,0.000,4,0.000,0.044,3096,3549,1898
$GC,1829,0.96,146.6,61.7,9.5,210,1833,0.00,2.20,0.00,0.000,6,0.000,0.027,3106,2156,1899
$GC,2170,0.96,146.6,33.5,8.0,257,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2155,1899
$GC,2386,0.99,165.7,17.3,6.9,294,2404,0.00,0.00,16.23,0.788,6,0.000,0.000,3106,2155,1824
$GC,2475,1.02,189.8,10.9,6.7,309,2498,0.00,0.00,19.83,0.703,6,0.000,0.000,3106,2155,1726
$GC,2570,1.04,205.3,4.3,7.0,325,2588,0.00,2.35,12.60,0.706,4,0.000,0.043,3106,3557,1662
$STATE,2769,end climb,NO_VERTICAL_VELOCITY
$STATE,2769,begin surface
$SM_CCo,2775,219.27,0.641,0,0,204,563.21
$SM_GC,2.65,8.82,0.00,0.00,0.040,0.000,0.000,22,2317,194,-8.56,-0.93,565.66
$IRIDIUM_FIX,4748.51,-12224.57,121007,171729
$TT8_MAMPS,0.026078
$HUMID,1869
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,76.3,52.2
$24V_AH,24.0,90.117
$10V_AH,10.7,42.281
$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,20.700,13.725,274.725,219.275,0.000,61.126,26.358,240.482,0.500,0.000,0.000,13.332,567.972,1376.189,523.147,722.467,575.231,33.333,908.038,0.000,738.022,0.000,2.525
$DEVICE_MAMPS,202.488,43.719,788.476,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.925,272.504,607.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,360
$CFSIZE,260165632,232058880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,143328,4806.868,-12222.942,44,3.3,64,18.3