version: 66.03
glider: 128
mission: 2
dive: 1042
start: 10 16 107 14 38 8
data:
$ID,128
$MISSION,2
$DIVE,1042
$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,-94764.273
$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,38
$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
$GPS1,142429,4807.295,-12223.315,12,4.4,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-67.3
$GPS2,143707,4807.590,-12223.521,15,1.2,26,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.201
$KALMAN_X,-20179.3,86.6,-62.8,19303.5,-321.7
$KALMAN_Y,1617.1,-225.4,-31.2,815.1,515.3
$MHEAD_RNG_PITCHd_Wd,129.8,1268,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-58.75,0.000,2,0.000,0.000,23,2330,1762
$GC,102,-0.96,-146.6,3.2,-2.4,11,153,9.77,0.00,-35.70,0.000,6,0.195,0.000,2461,2328,3099
$GC,225,-0.96,-146.6,14.0,-9.5,32,231,0.00,2.25,0.00,0.000,4,0.000,0.035,2462,949,3100
$GC,271,-0.96,-146.6,18.4,-10.2,39,277,0.00,2.28,0.00,0.000,6,0.000,0.034,2461,2353,3101
$GC,348,-0.96,-146.6,26.2,-10.1,52,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2354,3101
$GC,560,-0.96,-146.6,47.3,-10.2,89,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2354,3101
$GC,767,-0.96,-146.6,68.4,-10.5,110,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2354,3101
$GC,1095,-0.96,-146.6,102.9,-10.3,141,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2354,3101
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1132,-0.28,0.0,106.0,10.5,144,1251,0.70,0.00,114.65,0.742,6,0.106,0.000,2682,2137,2500
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1257,0.96,146.6,111.5,0.0,156,1377,1.20,2.33,112.40,0.697,4,0.074,0.048,3092,759,1900
$GC,1406,0.98,155.5,105.8,7.2,169,1420,0.00,2.30,8.62,0.678,6,0.000,0.030,3092,2159,1865
$GC,1750,0.98,155.5,76.9,8.1,201,1754,0.00,2.30,0.00,0.000,4,0.000,0.044,3092,3556,1864
$GC,1821,0.98,155.5,70.5,9.5,206,1827,0.00,2.20,0.00,0.000,6,0.000,0.027,3103,2158,1864
$GC,2156,0.98,155.5,41.5,8.9,245,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2157,1864
$GC,2373,0.98,155.5,23.9,8.1,282,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2157,1864
$GC,2591,1.01,186.9,7.5,6.5,319,2625,0.00,2.38,24.92,0.759,4,0.000,0.037,3109,745,1737
$GC,2714,1.30,418.5,5.9,-0.5,340,2901,0.17,2.30,171.50,0.652,6,0.041,0.029,3213,2164,790
$STATE,2905,end climb,SURFACE_DEPTH_REACHED
$STATE,2905,begin surface coast
$FINISH,1.4,1.010119
$STATE,2991,end surface coast,CONTROL_FINISHED_OK
$STATE,2991,begin surface
$SM_CCo,3019,76.15,0.650,0,0,256,550.21
$SM_GC,2.52,0.00,0.00,76.15,0.000,0.000,0.650,21,2359,256,-8.62,0.25,550.21
$IRIDIUM_FIX,4748.51,-12221.84,161007,181823
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.5,45.5
$24V_AH,23.8,100.517
$10V_AH,10.7,47.003
$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,21.025,18.925,432.100,76.150,0.000,80.234,69.782,312.991,1.250,0.000,0.000,28.051,560.280,1281.327,493.542,778.060,755.797,33.345,933.620,0.000,781.859,0.000,2.519
$DEVICE_MAMPS,194.818,47.554,758.563,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.896,292.537,656.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19071,389
$CFSIZE,260165632,229433344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,153039,4807.458,-12223.506,9,1.5,9,18.3