version: 66.03
glider: 128
mission: 2
dive: 968
start: 10 13 107 9 41 56
data:
$ID,128
$MISSION,2
$DIVE,968
$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,-92360.258
$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,54
$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
$GPS1,115543,4748.505,-12220.121,0,10000.0,0,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-68.0
$GPS2,115543,4748.505,-12220.121,0,10000.0,0,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.217
$KALMAN_X,-10720.9,14.0,-179.2,11433.8,-15.8
$KALMAN_Y,-384.6,-245.7,183.0,167.4,-94.5
$MHEAD_RNG_PITCHd_Wd,318.1,34436,-14.1,-7.547
$D_GRID,100
$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,-146.6,0.0,0.0,0,57,0.00,0.00,-21.25,0.000,2,0.000,0.000,21,2366,816
$GC,63,-0.96,-146.6,3.2,-2.0,4,153,9.70,2.33,-69.85,0.000,4,0.196,0.045,2461,952,3099
$GC,162,-0.96,-146.6,8.3,-8.8,21,169,0.00,2.25,0.00,0.000,6,0.000,0.033,2455,2352,3101
$GC,240,-0.96,-146.6,17.2,-11.7,34,246,0.00,2.28,0.00,0.000,4,0.000,0.032,2455,945,3101
$GC,300,-0.96,-146.6,24.1,-10.9,44,306,0.00,2.28,0.00,0.000,6,0.000,0.033,2447,2361,3101
$GC,517,-0.96,-146.6,47.1,-10.6,81,523,0.00,2.30,0.00,0.000,4,0.000,0.046,2437,3763,3102
$GC,566,-0.96,-146.6,53.0,-11.4,87,571,0.12,2.22,0.00,0.000,6,0.128,0.025,2468,2314,3102
$GC,894,-0.96,-146.6,86.0,-10.5,117,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2313,3102
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1048,-0.28,0.0,101.0,10.2,131,1166,0.68,0.00,114.65,0.742,6,0.106,0.000,2683,2144,2499
$STATE,1167,end apogee,CONTROL_FINISHED_OK
$STATE,1167,begin climb
$GC,1172,0.96,146.6,105.9,0.0,143,1293,1.20,2.30,112.55,0.693,4,0.074,0.035,3090,771,1901
$GC,1354,0.96,146.6,97.6,8.2,160,1358,0.00,2.25,0.00,0.000,6,0.000,0.030,3090,2153,1900
$GC,1686,0.96,146.6,71.5,7.9,190,1690,0.00,2.30,0.00,0.000,4,0.000,0.043,3090,3549,1899
$GC,1721,0.96,146.6,68.0,9.0,192,1728,0.00,2.20,0.00,0.000,6,0.000,0.027,3099,2154,1899
$GC,2057,0.96,146.6,40.4,8.3,233,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2153,1899
$GC,2273,0.97,154.8,24.9,7.3,270,2286,0.00,2.40,8.07,0.749,4,0.000,0.042,3100,3558,1868
$GC,2323,0.97,154.8,20.7,7.7,278,2330,0.00,2.22,0.00,0.000,6,0.000,0.027,3110,2150,1868
$GC,2538,1.10,255.8,8.5,4.0,315,2621,0.00,0.00,76.82,0.687,6,0.000,0.000,3110,2150,1456
$GC,2692,1.38,486.1,5.8,-0.4,342,2880,0.30,2.47,175.65,0.647,4,0.043,0.041,3244,3550,516
$GC,2945,1.64,697.2,3.6,0.2,386,3014,0.17,2.25,61.85,0.647,6,0.053,0.026,3324,2139,203
$GC,3089,1.91,912.1,2.6,0.1,410,3096,0.17,2.25,0.00,0.000,4,0.054,0.036,3412,766,198
$STATE,3180,end climb,NO_VERTICAL_VELOCITY
$STATE,3180,begin surface
$SM_CCo,3324,0.00,0.000,0,0,192,566.15
$SM_GC,2.55,9.90,0.00,0.00,0.054,0.000,0.000,22,2366,192,-8.56,0.45,566.15
$IRIDIUM_FIX,4748.51,-12224.57,131007,111121
$TT8_MAMPS,0.026078
$HUMID,1881
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.0,49.3
$24V_AH,24.0,92.198
$10V_AH,10.7,43.264
$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,22.250,37.125,549.600,0.000,0.000,165.302,141.942,0.000,0.250,0.000,0.000,907.906,588.442,1501.015,502.505,1724.262,597.187,33.333,996.101,0.000,854.130,0.000,2.522
$DEVICE_MAMPS,196.352,46.020,749.359,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,306.106,313.957,718.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22252,426
$CFSIZE,260165632,231526400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,104037,4806.071,-12222.329,157,1.3,157,18.3