version: 66.03
glider: 128
mission: 2
dive: 1039
start: 10 16 107 11 34 47
data:
$ID,128
$MISSION,2
$DIVE,1039
$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,-94704.047
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,112820,4806.713,-12222.801,7,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-68.1
$GPS2,113345,4806.720,-12222.830,11,1.8,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,0.224
$KALMAN_X,-18934.9,-104.3,85.4,18948.5,28.0
$KALMAN_Y,-149.9,36.1,-137.4,827.2,-169.0
$MHEAD_RNG_PITCHd_Wd,322.9,560,-14.1,-7.547
$D_GRID,105
$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,30,begin dive
$GC,35,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-42.75,0.000,2,0.000,0.000,21,2358,1400
$GC,86,-0.96,-146.6,3.1,-2.6,8,144,9.95,2.40,-42.28,0.000,4,0.201,0.059,2456,3753,3100
$GC,359,-0.96,-146.6,34.5,-11.0,55,365,0.00,2.22,0.00,0.000,6,0.000,0.026,2456,2319,3103
$GC,567,-0.96,-146.6,57.3,-10.7,86,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2319,3103
$GC,896,-0.96,-146.6,92.3,-11.1,117,900,0.00,2.40,0.00,0.000,4,0.000,0.046,2445,3763,3103
$GC,960,-0.96,-146.6,99.7,-11.6,122,965,0.00,2.17,0.00,0.000,6,0.000,0.026,2445,2352,3103
$STATE,1007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1007,begin apogee
$GC,1019,-0.28,0.0,105.4,11.4,126,1137,0.77,0.00,114.88,0.736,6,0.113,0.000,2685,2153,2500
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1144,0.96,146.6,110.4,0.0,138,1262,1.20,0.00,112.68,0.689,6,0.074,0.000,3082,2153,1901
$GC,1583,0.96,146.6,80.3,8.6,180,1587,0.00,2.33,0.00,0.000,4,0.000,0.043,3083,3562,1900
$GC,1620,0.96,146.6,77.1,9.1,183,1624,0.00,2.22,0.00,0.000,6,0.000,0.027,3094,2158,1900
$GC,1952,0.96,146.6,49.5,7.8,213,1958,0.00,2.33,0.00,0.000,4,0.000,0.042,3093,3567,1900
$GC,1996,0.96,146.6,45.2,9.3,220,2002,0.00,2.25,0.00,0.000,6,0.000,0.027,3105,2142,1899
$GC,2211,0.96,146.6,27.9,7.6,257,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2142,1900
$GC,2428,0.99,164.2,12.2,6.9,294,2446,0.00,0.00,15.43,0.812,6,0.000,0.000,3105,2141,1829
$GC,2518,1.23,364.1,9.0,0.6,309,2677,0.17,0.00,152.25,0.653,6,0.055,0.000,3192,2139,1013
$GC,2752,1.46,548.5,3.6,1.2,350,2842,0.15,0.00,86.90,0.640,2,0.055,0.000,3272,2139,515
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2843,begin surface coast
$FINISH,1.5,1.012196
$STATE,2918,end surface coast,CONTROL_FINISHED_OK
$STATE,2918,begin surface
$SM_CCo,2946,39.03,0.655,0,0,256,550.21
$SM_GC,2.18,0.00,0.00,39.03,0.000,0.000,0.655,21,2368,256,-8.62,0.54,550.21
$IRIDIUM_FIX,4748.51,-12217.40,161007,141445
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,40.9
$24V_AH,23.9,100.172
$10V_AH,10.7,46.855
$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,21.600,18.950,482.125,39.025,0.000,23.783,17.934,142.061,0.500,0.000,0.000,12.605,537.563,1124.464,477.757,731.753,455.727,33.373,902.163,0.000,753.746,0.000,2.512
$DEVICE_MAMPS,200.954,59.059,812.253,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,272.335,283.698,639.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19103,379
$CFSIZE,260165632,229519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,122527,4807.068,-12223.129,8,1.8,8,18.3