version: 66.03
glider: 128
mission: 2
dive: 1044
start: 10 16 107 16 36 59
data:
$ID,128
$MISSION,2
$DIVE,1044
$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,-94816.742
$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,58
$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
$GPS1,163038,4807.444,-12223.553,30,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-68.0
$GPS2,163602,4807.529,-12223.577,13,1.3,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.195
$KALMAN_X,-20688.6,54.9,-267.0,19970.6,-231.0
$KALMAN_Y,2170.9,-126.4,346.6,-313.5,345.8
$MHEAD_RNG_PITCHd_Wd,127.1,1212,-14.1,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-0.96,-146.6,0.0,0.0,0,102,0.00,0.00,-58.62,0.000,2,0.000,0.000,16,2340,1822
$GC,108,-0.96,-146.6,3.2,-2.1,11,159,9.88,2.30,-33.22,0.000,4,0.196,0.048,2465,952,3100
$GC,169,-0.96,-146.6,9.2,-6.7,21,175,0.00,2.28,0.00,0.000,6,0.000,0.033,2459,2351,3101
$GC,247,-0.96,-146.6,17.1,-10.7,34,254,0.00,2.35,0.00,0.000,4,0.000,0.047,2449,3750,3102
$GC,314,-0.96,-146.6,24.5,-11.2,45,320,0.00,2.20,0.00,0.000,6,0.000,0.026,2449,2332,3102
$GC,529,-0.96,-146.6,47.2,-10.7,82,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2332,3102
$GC,731,-0.96,-146.6,68.8,-10.8,103,735,0.00,2.17,0.00,0.000,4,0.000,0.034,2449,972,3102
$GC,774,-0.96,-146.6,73.5,-10.9,106,778,0.00,2.22,0.00,0.000,6,0.000,0.035,2445,2352,3102
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1050,-0.28,0.0,103.3,10.7,131,1168,0.75,0.00,114.53,0.736,6,0.109,0.000,2680,2151,2499
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1174,0.96,146.6,108.4,0.0,143,1291,1.23,0.00,112.22,0.690,6,0.074,0.000,3088,2151,1901
$GC,1611,0.96,146.6,77.5,8.5,184,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2151,1900
$GC,1939,0.96,146.6,50.4,8.3,215,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2151,1899
$GC,2289,0.96,146.6,22.9,7.6,276,2295,0.00,2.33,0.00,0.000,4,0.000,0.044,3088,3563,1899
$GC,2357,0.96,146.6,17.5,8.3,287,2363,0.00,2.25,0.00,0.000,6,0.000,0.027,3099,2138,1899
$GC,2435,0.98,158.5,11.7,7.1,300,2453,0.00,2.22,11.25,0.795,4,0.000,0.038,3107,758,1852
$GC,2485,1.00,173.5,8.3,7.0,308,2504,0.00,2.25,12.80,0.710,6,0.000,0.031,3107,2147,1792
$GC,2575,1.17,317.0,4.8,2.6,323,2692,0.15,2.40,108.03,0.656,4,0.059,0.042,3183,3559,1205
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,1.4,1.019198
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2849,134.98,0.641,0,0,257,550.21
$SM_GC,2.27,0.00,0.00,134.98,0.000,0.000,0.641,13,2335,257,-8.65,-0.42,550.21
$IRIDIUM_FIX,4748.51,-12229.01,161007,191944
$TT8_MAMPS,0.026078
$HUMID,1868
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.6,44.1
$24V_AH,23.9,100.735
$10V_AH,10.7,47.100
$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,21.125,27.200,358.825,134.975,0.000,28.428,33.951,117.020,0.500,0.000,0.000,15.410,547.747,1114.034,502.576,713.655,440.700,33.348,902.860,0.000,729.077,0.000,2.515
$DEVICE_MAMPS,196.352,47.554,795.379,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.953,276.239,617.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19057,366
$CFSIZE,260165632,229380096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,172739,4807.342,-12223.474,10,1.2,10,18.3