version: 66.03
glider: 128
mission: 2
dive: 1014
start: 10 15 107 9 38 29
data:
$ID,128
$MISSION,2
$DIVE,1014
$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,-94134.031
$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,51
$R_STBD_OVSHOOT,44
$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
$GPS1,092907,4806.914,-12223.054,18,1.0,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-70.2
$GPS2,093727,4806.817,-12222.978,12,1.4,12,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,0.197
$KALMAN_X,-14266.3,73.3,16.8,13987.1,77.8
$KALMAN_Y,-4463.2,-212.9,-79.4,5518.2,-204.9
$MHEAD_RNG_PITCHd_Wd,330.7,340,-17.4,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-1.09,-101.0,0.0,0.0,0,73,0.00,0.00,-37.12,0.000,2,0.000,0.000,12,2366,1318
$GC,79,-1.14,-146.6,3.2,-1.9,7,147,10.07,2.33,-49.60,0.000,4,0.213,0.047,2404,947,3101
$GC,168,-1.14,-146.6,10.2,-9.8,22,174,0.00,2.28,0.00,0.000,6,0.000,0.033,2397,2350,3102
$GC,246,-1.14,-146.6,18.5,-10.8,35,252,0.00,2.33,0.00,0.000,4,0.000,0.045,2386,3758,3102
$GC,295,-1.14,-146.6,24.6,-12.4,43,301,0.00,2.22,0.00,0.000,6,0.000,0.025,2386,2318,3102
$GC,510,-1.14,-146.6,50.4,-12.6,80,514,0.00,2.12,0.00,0.000,4,0.000,0.033,2386,985,3103
$GC,574,-1.14,-146.6,59.0,-13.1,85,581,0.08,2.22,0.00,0.000,6,0.140,0.034,2403,2347,3103
$GC,901,-1.14,-146.6,101.0,-13.0,116,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2348,3102
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,928,-0.28,0.0,103.6,13.1,118,1046,0.90,0.00,114.22,0.731,6,0.114,0.000,2682,2154,2500
$STATE,1047,end apogee,CONTROL_FINISHED_OK
$STATE,1047,begin climb
$GC,1053,1.14,146.6,109.3,0.0,130,1174,1.38,2.45,112.68,0.690,4,0.072,0.042,3142,3555,1901
$GC,1207,1.14,146.6,101.3,10.0,145,1211,0.00,2.25,0.00,0.000,6,0.000,0.026,3153,2165,1900
$GC,1539,1.14,146.6,67.2,10.4,175,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2162,1900
$GC,1879,1.14,146.6,32.5,9.7,221,1885,0.00,2.28,0.00,0.000,4,0.000,0.041,3153,3560,1899
$GC,1922,1.14,146.6,27.9,10.8,228,1929,0.00,2.25,0.00,0.000,6,0.000,0.027,3163,2151,1899
$GC,2138,1.14,146.6,8.8,7.8,265,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2151,1899
$GC,2215,1.37,330.2,7.3,-1.7,278,2364,0.15,2.38,138.43,0.663,4,0.061,0.037,3245,761,1152
$GC,2458,1.56,482.4,3.6,-0.1,320,2574,0.00,2.28,109.03,0.641,6,0.000,0.029,3245,2148,532
$GC,2648,1.75,641.8,2.2,-0.5,353,2684,0.25,0.00,32.80,0.646,2,0.048,0.000,3357,2148,292
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,1.6,1.016390
$STATE,2838,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2838,begin surface
$SM_CCo,2866,4.60,0.558,0,0,257,550.21
$SM_GC,3.31,0.00,0.00,4.60,0.000,0.000,0.558,14,2362,257,-8.65,0.31,550.21
$IRIDIUM_FIX,4748.51,-12226.29,151007,131328
$TT8_MAMPS,0.026078
$HUMID,1892
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,78.8,40.8
$24V_AH,24.0,97.365
$10V_AH,10.7,45.605
$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,22.475,27.950,507.150,4.600,0.000,51.870,23.837,219.181,0.750,0.000,0.000,14.352,538.113,1044.649,478.388,746.125,579.867,33.338,921.723,0.000,765.496,0.000,6.855
$DEVICE_MAMPS,213.226,46.787,730.951,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.422,283.367,651.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19132,386
$CFSIZE,260165632,230227968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,102739,4806.958,-12223.141,33,1.8,33,18.3