version: 66.03
glider: 128
mission: 2
dive: 967
start: 10 13 107 8 3 19
data:
$ID,128
$MISSION,2
$DIVE,967
$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,-90547.086
$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,72
$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,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
$GPS1,075327,4805.987,-12222.143,13,1.4,13,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.9
$GPS2,080221,4805.957,-12222.136,15,1.4,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.214
$KALMAN_X,-10670.5,-9.2,-183.9,11718.7,-22.6
$KALMAN_Y,-296.0,-229.0,131.4,-440.0,-53.7
$MHEAD_RNG_PITCHd_Wd,316.6,2207,-14.1,-7.547
$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,38,-0.96,-146.6,0.0,0.0,0,72,0.00,0.00,-31.75,0.000,2,0.000,0.000,19,2329,1118
$GC,77,-0.96,-146.6,3.2,-1.7,6,157,9.88,2.47,-64.03,0.000,4,0.199,0.058,2453,3754,3099
$GC,183,-0.96,-146.6,9.3,-10.3,24,189,0.00,2.20,0.00,0.000,6,0.000,0.026,2453,2342,3101
$GC,260,-0.96,-146.6,18.7,-12.2,37,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2341,3101
$GC,337,-0.96,-146.6,27.5,-11.2,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2341,3102
$GC,553,-0.96,-146.6,51.7,-10.9,87,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2341,3102
$GC,876,-0.96,-146.6,87.0,-11.1,117,880,0.00,2.33,0.00,0.000,4,0.000,0.047,2442,3748,3101
$GC,917,-0.96,-146.6,92.3,-11.3,120,923,0.00,2.17,0.00,0.000,6,0.000,0.027,2442,2341,3101
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1048,begin apogee
$GC,1059,-0.28,0.0,107.5,11.2,133,1177,0.77,0.00,114.40,0.739,6,0.113,0.000,2683,2149,2500
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1184,0.96,146.6,112.7,0.0,145,1302,1.23,0.00,112.55,0.697,6,0.074,0.000,3089,2148,1901
$GC,1623,0.96,146.6,83.8,8.2,187,1627,0.00,2.25,0.00,0.000,4,0.000,0.037,3098,759,1900
$GC,1655,0.96,146.6,81.3,8.4,189,1661,0.00,2.22,0.00,0.000,6,0.000,0.031,3098,2151,1900
$GC,1986,0.96,146.6,54.4,8.4,220,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2151,1899
$GC,2332,0.98,158.3,27.2,7.1,277,2350,0.00,2.33,11.02,0.797,4,0.000,0.043,3098,3554,1853
$GC,2427,0.98,158.5,19.9,7.5,293,2434,0.00,2.22,0.00,0.000,6,0.000,0.027,3108,2142,1853
$GC,2505,1.00,172.6,14.2,7.1,306,2524,0.00,2.25,12.88,0.768,4,0.000,0.037,3114,754,1795
$GC,2567,1.01,187.6,9.8,7.0,316,2585,0.00,2.25,12.80,0.678,6,0.000,0.031,3114,2153,1735
$GC,2657,1.15,300.3,5.2,3.6,331,2751,0.10,2.38,85.05,0.666,4,0.072,0.036,3165,762,1274
$GC,2875,1.43,523.0,4.2,-0.2,369,2884,0.22,2.25,2.90,0.377,2,0.048,0.030,3264,2153,1261
$STATE,2885,end climb,NO_VERTICAL_VELOCITY
$STATE,2885,begin surface
$SM_CCo,2891,197.93,0.643,0,0,204,563.21
$SM_GC,2.80,9.40,0.00,0.00,0.048,0.000,0.000,22,2366,192,-8.57,0.45,565.91
$IRIDIUM_FIX,4748.51,-12220.12,131007,111143
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.9,43.1
$24V_AH,24.0,92.082
$10V_AH,10.7,43.165
$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,21.600,27.900,351.600,197.925,0.000,53.511,26.972,243.428,0.750,0.000,0.000,17.203,567.162,1426.806,575.867,715.314,593.256,33.337,973.165,0.000,726.229,0.000,5.473
$DEVICE_MAMPS,198.653,57.525,796.913,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,265.577,280.743,624.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,370
$CFSIZE,260165632,231575552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,115543,4748.505,-12220.121,0,10000.0,0,18.3