version: 66.03
glider: 128
mission: 2
dive: 1041
start: 10 16 107 13 30 28
data:
$ID,128
$MISSION,2
$DIVE,1041
$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,-94735.586
$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,63
$R_STBD_OVSHOOT,41
$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
$GPS1,132038,4807.190,-12223.192,36,1.2,36,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-68.3
$GPS2,132926,4807.366,-12223.280,9,1.2,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.200
$KALMAN_X,-19617.4,50.4,20.6,18989.3,-188.3
$KALMAN_Y,762.4,-179.9,-132.8,1311.3,237.2
$MHEAD_RNG_PITCHd_Wd,129.4,761,-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,29,begin dive
$GC,35,-0.96,-146.6,0.0,0.0,0,90,0.00,0.00,-53.30,0.000,2,0.000,0.000,22,2332,1659
$GC,96,-0.96,-146.6,3.4,-2.9,10,154,9.88,2.28,-37.83,0.000,4,0.198,0.047,2462,964,3100
$GC,175,-0.96,-146.6,10.6,-9.9,23,181,0.00,2.25,0.00,0.000,6,0.000,0.034,2456,2347,3102
$GC,253,-0.96,-146.6,18.4,-10.0,36,259,0.00,2.33,0.00,0.000,4,0.000,0.047,2446,3753,3102
$GC,313,-0.96,-146.6,25.1,-10.6,46,320,0.00,2.22,0.00,0.000,6,0.000,0.026,2446,2339,3102
$GC,529,-0.96,-146.6,47.6,-10.5,83,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2339,3102
$GC,735,-0.96,-146.6,69.8,-11.0,104,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2339,3103
$STATE,1058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1058,begin apogee
$GC,1075,-0.28,0.0,105.5,11.1,135,1194,0.75,0.00,114.85,0.738,6,0.111,0.000,2680,2150,2500
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1200,0.96,146.6,111.4,0.0,147,1320,1.23,2.33,112.57,0.690,4,0.075,0.038,3095,776,1900
$GC,1382,0.96,146.6,102.7,8.4,163,1386,0.00,2.25,0.00,0.000,6,0.000,0.031,3095,2155,1900
$GC,1715,0.96,146.6,73.6,8.9,193,1719,0.00,2.30,0.00,0.000,4,0.000,0.044,3095,3552,1899
$GC,1785,0.96,146.6,66.3,9.6,198,1792,0.00,2.20,0.00,0.000,6,0.000,0.027,3106,2156,1899
$GC,2124,0.96,146.6,37.7,8.5,241,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2155,1899
$GC,2342,0.96,146.6,20.7,7.8,278,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2155,1899
$GC,2559,1.10,259.1,7.3,3.6,315,2653,0.00,2.42,85.47,0.684,4,0.000,0.043,3106,3548,1442
$STATE,2845,end climb,NO_VERTICAL_VELOCITY
$STATE,2845,begin surface
$SM_CCo,2851,197.50,0.642,0,0,204,563.21
$SM_GC,2.27,8.98,0.00,0.00,0.044,0.000,0.000,23,2330,194,-8.57,-0.57,565.66
$IRIDIUM_FIX,4748.51,-12226.29,161007,171759
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,41.7
$24V_AH,23.9,100.394
$10V_AH,10.7,46.948
$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,20.825,22.800,312.900,197.500,0.000,54.566,56.175,208.249,0.750,0.000,0.000,16.935,556.196,1297.748,533.757,731.373,590.120,33.370,923.240,0.000,740.303,0.000,2.513
$DEVICE_MAMPS,197.886,46.787,737.854,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.127,275.932,617.544,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19163,366
$CFSIZE,260165632,229466112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,142429,4807.295,-12223.315,12,4.4,31,18.3