version: 66.03
glider: 128
mission: 2
dive: 1015
start: 10 15 107 10 43 23
data:
$ID,128
$MISSION,2
$DIVE,1015
$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,-94150.867
$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,53
$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
$GPS1,102739,4806.958,-12223.141,33,1.8,33,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-68.0
$GPS2,104226,4806.833,-12223.053,14,1.8,14,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,0.203
$KALMAN_X,-14296.6,94.7,46.5,13875.1,50.9
$KALMAN_Y,-4837.8,-263.6,-129.6,6023.2,-250.3
$MHEAD_RNG_PITCHd_Wd,343.1,316,-17.1,-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,39,-1.08,-103.4,0.0,0.0,0,78,0.00,0.00,-37.08,0.000,2,0.000,0.000,14,2362,1310
$GC,84,-1.13,-146.6,3.1,-1.6,7,158,9.93,2.30,-55.97,0.000,4,0.207,0.056,2400,3747,3099
$GC,168,-1.13,-146.6,7.8,-8.8,21,174,0.00,2.20,0.00,0.000,6,0.000,0.025,2400,2324,3100
$GC,245,-1.13,-146.6,16.3,-10.9,34,252,0.00,2.17,0.00,0.000,4,0.000,0.033,2400,982,3101
$GC,300,-1.13,-146.6,22.5,-11.2,43,307,0.00,2.25,0.00,0.000,6,0.000,0.033,2392,2348,3101
$GC,516,-1.13,-146.6,47.8,-12.5,80,522,0.00,2.20,0.00,0.000,4,0.000,0.032,2392,977,3101
$GC,565,-1.13,-146.6,54.4,-12.7,86,570,0.12,2.22,0.00,0.000,6,0.142,0.034,2415,2358,3101
$GC,893,-1.13,-146.6,94.8,-12.3,116,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2358,3101
$STATE,960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,972,-0.28,0.0,103.9,12.2,123,1090,0.85,0.00,114.30,0.735,6,0.110,0.000,2683,2147,2500
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1096,1.13,146.6,109.5,0.0,135,1214,1.38,0.00,112.57,0.690,6,0.071,0.000,3142,2146,1901
$GC,1536,1.13,146.6,73.5,10.4,177,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2146,1900
$GC,1873,1.13,146.6,40.5,9.6,216,1880,0.00,2.28,0.00,0.000,4,0.000,0.042,3142,3553,1899
$GC,1951,1.13,146.6,32.1,10.3,229,1957,0.00,2.20,0.00,0.000,6,0.000,0.026,3152,2157,1899
$GC,2166,1.13,148.2,14.2,7.5,266,2172,0.00,2.25,0.00,0.000,4,0.000,0.037,3162,757,1899
$GC,2226,1.16,166.5,10.0,6.7,276,2250,0.00,2.22,16.92,0.779,6,0.000,0.030,3161,2156,1820
$GC,2322,1.37,343.0,9.0,-1.1,292,2466,0.17,2.40,133.75,0.656,4,0.058,0.037,3245,761,1100
$GC,2484,1.50,442.4,3.6,2.7,320,2567,0.00,2.28,77.05,0.627,6,0.000,0.029,3245,2155,695
$GC,2643,1.67,587.6,2.9,0.4,347,2739,0.17,2.40,84.93,0.638,4,0.053,0.037,3336,758,202
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,1.5,1.005319
$STATE,2921,end surface coast,CONTROL_FINISHED_OK
$STATE,2921,begin surface
$SM_CCo,3011,0.00,0.000,0,0,192,566.15
$SM_GC,2.56,9.55,0.00,0.00,0.048,0.000,0.000,15,2358,192,-8.58,0.20,566.15
$IRIDIUM_FIX,4751.72,-12230.75,151007,141449
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,79.0,48.5
$24V_AH,23.9,97.499
$10V_AH,10.7,45.661
$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,22.175,32.275,539.525,0.000,0.000,78.835,106.247,401.568,1.000,0.000,0.000,16.204,540.022,1203.020,505.550,751.987,901.680,33.341,960.679,0.000,772.038,0.000,2.522
$DEVICE_MAMPS,207.090,55.991,779.272,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.395,290.062,668.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19085,396
$CFSIZE,260165632,230199296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151007,113446,4807.107,-12223.159,13,2.7,32,18.3