version: 66.03
glider: 128
mission: 2
dive: 1001
start: 10 14 107 20 15 6
data:
$ID,128
$MISSION,2
$DIVE,1001
$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,550
$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,-93888.312
$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,52
$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
$GPS1,200551,4806.245,-12222.258,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-64.0
$GPS2,201409,4806.295,-12222.277,15,1.8,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.203
$KALMAN_X,-14027.5,-142.1,-89.7,14937.4,-6.2
$KALMAN_Y,-2809.6,16.1,43.4,2540.5,-67.4
$MHEAD_RNG_PITCHd_Wd,311.0,1582,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-0.96,-146.6,0.0,0.0,0,117,0.00,0.00,-75.03,0.000,2,0.000,0.000,18,2365,2154
$GC,123,-0.96,-146.6,3.1,-1.1,14,174,10.07,2.33,-34.28,0.000,4,0.206,0.058,2452,3749,3098
$GC,484,-0.96,-146.6,38.1,-10.9,77,490,0.00,2.22,0.00,0.000,6,0.000,0.026,2452,2315,3100
$GC,697,-0.96,-146.6,60.3,-10.4,106,701,0.00,2.38,0.00,0.000,4,0.000,0.046,2441,3746,3100
$GC,895,-0.96,-146.6,83.2,-11.2,122,902,0.00,2.17,0.00,0.000,6,0.000,0.027,2441,2349,3100
$STATE,1112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1112,begin apogee
$GC,1124,-0.28,0.0,107.6,11.3,143,1242,0.77,0.00,114.35,0.741,6,0.110,0.000,2683,2151,2500
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1248,0.96,146.6,113.1,0.0,155,1368,1.23,2.33,112.70,0.700,4,0.075,0.037,3096,774,1900
$GC,1445,0.96,146.6,103.2,8.3,172,1452,0.00,2.25,0.00,0.000,6,0.000,0.031,3096,2142,1899
$GC,1779,0.96,146.6,74.7,8.7,203,1783,0.00,2.33,0.00,0.000,4,0.000,0.044,3096,3555,1899
$GC,1848,0.96,146.6,67.5,9.7,208,1855,0.00,2.22,0.00,0.000,6,0.000,0.027,3106,2160,1899
$GC,2185,0.96,146.6,38.7,8.2,250,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2159,1898
$GC,2401,0.96,146.6,21.8,7.6,287,2407,0.00,2.30,0.00,0.000,4,0.000,0.044,3107,3552,1898
$GC,2461,0.96,146.6,16.5,8.1,297,2468,0.00,2.22,0.00,0.000,6,0.000,0.027,3116,2140,1898
$GC,2540,0.97,148.3,10.6,7.5,310,2546,0.00,2.22,0.00,0.000,4,0.000,0.038,3124,756,1898
$GC,2589,0.98,160.3,7.1,7.1,318,2607,0.00,2.25,11.62,0.796,6,0.000,0.031,3124,2153,1845
$GC,2679,1.16,309.6,2.8,2.4,333,2762,0.00,2.40,74.60,0.669,4,0.000,0.043,3125,3545,1234
$GC,2794,1.43,524.0,2.4,0.1,353,2853,0.25,2.28,52.30,0.644,2,0.037,0.026,3259,2143,812
$STATE,2854,end climb,SURFACE_DEPTH_REACHED
$STATE,2854,begin surface coast
$FINISH,2.0,1.019457
$STATE,2859,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2859,begin surface
$SM_CCo,2886,73.70,0.634,0,0,256,550.21
$SM_GC,2.46,0.00,0.00,73.70,0.000,0.000,0.634,28,2358,256,-8.60,0.23,550.21
$IRIDIUM_FIX,4748.51,-12210.23,151007,000009
$TT8_MAMPS,0.025311
$HUMID,1872
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,46.8
$24V_AH,23.9,95.883
$10V_AH,10.7,44.942
$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,21.975,32.500,365.575,73.700,0.000,53.144,33.916,202.838,0.500,0.000,0.000,16.733,549.141,1147.619,456.375,759.815,556.680,33.342,880.938,0.000,769.445,0.000,9.834
$DEVICE_MAMPS,205.556,58.292,796.146,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.625,270.387,614.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19126,364
$CFSIZE,260165632,230600704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,210537,4806.518,-12222.436,25,1.7,25,18.3