version: 66.03
glider: 128
mission: 2
dive: 970
start: 10 13 107 12 16 59
data:
$ID,128
$MISSION,2
$DIVE,970
$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,-92393.117
$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,50
$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
$GPS1,115951,4806.305,-12222.647,12,1.6,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-69.5
$GPS2,121557,4806.338,-12222.649,11,1.5,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.218
$KALMAN_X,-10602.8,24.6,-41.5,10842.5,124.5
$KALMAN_Y,-1211.0,-267.1,53.4,1289.3,-230.2
$MHEAD_RNG_PITCHd_Wd,318.5,1300,-14.1,-7.547
$D_GRID,103
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,35,-0.96,-146.6,0.0,0.0,0,74,0.00,0.00,-37.12,0.000,2,0.000,0.000,21,2359,1243
$GC,80,-0.96,-146.6,3.0,-1.1,7,153,10.07,2.33,-56.22,0.000,4,0.206,0.058,2455,3749,3099
$GC,283,-0.96,-146.6,24.5,-11.4,42,289,0.00,2.22,0.00,0.000,6,0.000,0.026,2455,2314,3101
$GC,497,-0.96,-146.6,48.5,-10.7,79,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2314,3102
$GC,703,-0.96,-146.6,70.8,-11.1,99,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2314,3102
$STATE,995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,995,begin apogee
$GC,1007,-0.28,0.0,103.3,11.2,127,1125,0.73,0.00,114.25,0.745,6,0.110,0.000,2683,2147,2500
$STATE,1125,end apogee,CONTROL_FINISHED_OK
$STATE,1125,begin climb
$GC,1130,0.96,146.6,108.5,0.0,139,1250,1.23,2.33,112.40,0.702,4,0.076,0.036,3095,769,1900
$GC,1327,0.96,146.6,98.9,7.7,156,1334,0.00,2.28,0.00,0.000,6,0.000,0.031,3095,2146,1899
$GC,1659,0.96,146.6,70.9,8.7,187,1663,0.00,2.33,0.00,0.000,4,0.000,0.043,3095,3560,1899
$GC,1747,0.96,146.6,62.6,9.3,194,1751,0.00,2.20,0.00,0.000,6,0.000,0.026,3105,2164,1899
$GC,2087,0.96,146.6,34.3,8.0,240,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2161,1899
$GC,2305,0.98,155.4,18.5,7.2,277,2317,0.00,0.00,8.52,0.753,6,0.000,0.000,3105,2161,1865
$GC,2388,0.99,165.4,12.2,7.2,291,2406,0.00,2.33,9.57,0.772,4,0.000,0.037,3114,757,1825
$GC,2461,1.03,200.5,7.7,6.3,303,2495,0.00,2.25,27.80,0.696,6,0.000,0.031,3114,2161,1682
$GC,2566,1.26,390.7,4.7,1.0,321,2715,0.17,2.40,139.93,0.660,4,0.054,0.042,3200,3547,905
$GC,2837,1.52,601.1,2.7,0.3,368,2861,0.20,2.22,18.85,0.698,2,0.050,0.025,3292,2139,768
$STATE,2862,end climb,NO_VERTICAL_VELOCITY
$STATE,2862,begin surface
$SM_CCo,2868,86.82,0.633,0,0,203,563.21
$SM_GC,2.82,9.50,0.00,0.00,0.046,0.000,0.000,19,2356,194,-8.57,0.17,565.66
$IRIDIUM_FIX,4748.51,-12221.84,131007,161604
$TT8_MAMPS,0.026078
$HUMID,1872
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.8,42.9
$24V_AH,24.0,92.478
$10V_AH,10.7,43.381
$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,21.900,23.425,431.325,86.825,0.000,110.055,131.711,386.685,0.500,0.000,0.000,12.686,548.984,1413.579,492.352,744.098,906.078,33.339,925.611,0.000,759.424,0.000,2.514
$DEVICE_MAMPS,206.323,58.292,771.602,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.654,279.182,627.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19113,372
$CFSIZE,260165632,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,131025,4806.683,-12222.950,38,1.0,38,18.3