version: 66.03
glider: 128
mission: 2
dive: 1013
start: 10 15 107 8 41 31
data:
$ID,128
$MISSION,2
$DIVE,1013
$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,-94119.055
$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,64
$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
$GPS1,082729,4806.867,-12223.025,12,3.6,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-70.5
$GPS2,084035,4806.828,-12222.867,11,4.1,30,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.172
$KALMAN_X,-14307.5,50.8,-6.2,14209.0,62.7
$KALMAN_Y,-4121.9,-154.8,-31.2,5087.6,-153.0
$MHEAD_RNG_PITCHd_Wd,316.1,359,-18.5,-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,-1.14,-89.9,0.0,0.0,0,74,0.00,0.00,-37.05,0.000,2,0.000,0.000,22,2362,1302
$GC,80,-1.21,-146.6,3.0,-1.9,7,148,9.85,2.33,-49.30,0.000,4,0.209,0.045,2386,962,3100
$GC,163,-1.21,-146.6,9.1,-8.0,21,170,0.00,2.28,0.00,0.000,6,0.000,0.034,2378,2344,3102
$GC,241,-1.21,-146.6,19.0,-13.4,34,247,0.00,2.33,0.00,0.000,4,0.000,0.046,2367,3750,3102
$GC,280,-1.21,-146.6,24.5,-14.5,40,287,0.00,2.20,0.00,0.000,6,0.000,0.026,2367,2328,3102
$GC,501,-1.21,-146.6,54.5,-13.9,75,505,0.00,2.15,0.00,0.000,4,0.000,0.033,2367,975,3102
$GC,555,-1.21,-146.6,62.9,-14.5,79,560,0.12,2.22,0.00,0.000,6,0.149,0.034,2388,2353,3102
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,869,-0.28,0.0,104.4,13.6,107,987,0.95,0.00,114.25,0.732,6,0.117,0.000,2682,2148,2500
$STATE,987,end apogee,CONTROL_FINISHED_OK
$STATE,988,begin climb
$GC,993,1.21,146.6,109.8,0.0,119,1113,1.45,2.47,112.55,0.688,4,0.072,0.042,3165,3556,1901
$GC,1151,1.21,146.6,100.9,11.2,134,1155,0.00,2.25,0.00,0.000,6,0.000,0.026,3175,2164,1900
$GC,1483,1.21,146.6,64.9,11.0,164,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2161,1899
$GC,1826,1.21,146.6,28.6,9.8,213,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2161,1899
$GC,2042,1.21,146.6,8.8,8.9,250,2048,0.00,2.28,0.00,0.000,4,0.000,0.038,3186,749,1899
$GC,2064,1.21,146.6,7.1,7.6,253,2070,0.00,2.22,0.00,0.000,6,0.000,0.031,3186,2154,1899
$GC,2142,1.43,325.0,7.3,-2.5,266,2285,0.15,2.38,134.82,0.667,4,0.063,0.038,3266,759,1172
$GC,2352,1.55,428.4,4.9,1.7,302,2440,0.00,2.25,80.18,0.647,6,0.000,0.030,3265,2151,751
$GC,2516,1.73,572.0,2.6,-0.5,330,2578,0.17,0.00,58.97,0.642,2,0.052,0.000,3354,2151,353
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,1.5,1.015611
$STATE,2732,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2732,begin surface
$SM_CCo,2761,14.32,0.714,0,0,257,550.21
$SM_GC,2.20,0.00,0.00,14.32,0.000,0.000,0.714,12,2366,257,-8.65,0.45,550.21
$IRIDIUM_FIX,4748.51,-12229.01,151007,121242
$TT8_MAMPS,0.026078
$HUMID,1874
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.4,52.4
$24V_AH,23.9,97.251
$10V_AH,10.7,45.554
$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,22.350,27.950,500.775,14.325,0.000,82.831,63.080,338.315,0.250,0.000,0.000,33.238,517.975,1068.222,475.769,736.484,772.247,33.339,906.572,0.000,735.686,0.000,2.527
$DEVICE_MAMPS,209.391,46.020,731.718,714.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.397,268.508,621.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19147,368
$CFSIZE,260165632,230260736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,092907,4806.914,-12223.054,18,1.0,35,18.3