version: 66.03
glider: 128
mission: 2
dive: 956
start: 10 12 107 19 56 28
data:
$ID,128
$MISSION,2
$DIVE,956
$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,563.2088
$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,-89248.391
$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,39
$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
$GPS1,194044,4805.989,-12222.141,12,1.3,12,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-69.1
$GPS2,195526,4805.942,-12222.120,14,1.5,14,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.212
$KALMAN_X,-10280.1,-114.1,-224.7,11493.4,-3.0
$KALMAN_Y,2477.1,-196.4,210.0,-3351.4,-65.2
$MHEAD_RNG_PITCHd_Wd,315.5,2240,-14.1,-7.547
$D_GRID,107
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.96,-146.6,0.0,0.0,0,73,0.00,0.00,-37.10,0.000,2,0.000,0.000,20,2353,1236
$GC,78,-0.96,-146.6,3.0,-1.8,7,162,9.90,2.35,-66.18,0.000,4,0.200,0.059,2453,3752,3099
$GC,178,-0.96,-146.6,6.7,-7.1,24,185,0.00,2.25,0.00,0.000,6,0.000,0.026,2454,2330,3100
$GC,256,-0.96,-146.6,14.6,-10.3,37,262,0.00,2.17,0.00,0.000,4,0.000,0.033,2454,969,3101
$GC,401,-0.96,-146.6,29.7,-10.5,62,407,0.00,2.22,0.00,0.000,6,0.000,0.034,2445,2349,3101
$GC,616,-0.96,-146.6,52.8,-11.1,97,620,0.00,2.30,0.00,0.000,4,0.000,0.046,2434,3753,3102
$GC,657,-0.96,-146.6,58.3,-12.0,100,663,0.12,2.17,0.00,0.000,6,0.130,0.026,2466,2344,3101
$GC,984,-0.96,-146.6,91.0,-10.0,131,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2344,3101
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1150,-0.28,0.0,107.1,10.5,146,1267,0.68,0.00,114.12,0.739,6,0.108,0.000,2680,2153,2500
$STATE,1268,end apogee,CONTROL_FINISHED_OK
$STATE,1268,begin climb
$GC,1274,0.96,146.6,112.3,0.0,158,1393,1.23,2.35,112.30,0.694,4,0.075,0.037,3094,761,1901
$GC,1433,0.97,147.7,105.8,7.5,172,1437,0.00,2.28,0.00,0.000,6,0.000,0.031,3094,2151,1899
$GC,1765,0.97,147.7,78.3,8.3,202,1769,0.00,2.30,0.00,0.000,4,0.000,0.044,3094,3556,1899
$GC,1801,0.97,147.7,74.9,8.7,205,1806,0.00,2.22,0.00,0.000,6,0.000,0.027,3104,2148,1899
$GC,2132,0.97,147.7,47.2,8.1,237,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2148,1899
$GC,2348,0.97,147.7,30.3,7.5,274,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2148,1898
$GC,2564,0.98,159.3,14.7,7.1,311,2581,0.00,0.00,11.75,0.795,6,0.000,0.000,3104,2148,1849
$GC,2652,1.02,190.6,8.4,6.5,326,2687,0.00,2.35,24.90,0.706,4,0.000,0.037,3114,748,1721
$GC,2749,1.11,269.0,3.5,4.8,342,2805,0.00,2.28,50.33,0.668,6,0.000,0.031,3114,2157,1402
$GC,2876,1.40,499.7,3.6,-0.4,364,2938,0.30,0.00,59.35,0.655,2,0.044,0.000,3249,2157,1025
$STATE,2939,end climb,NO_VERTICAL_VELOCITY
$STATE,2939,begin surface
$SM_CCo,2945,119.82,0.623,0,0,203,563.21
$SM_GC,2.57,9.43,0.00,0.00,0.044,0.000,0.000,15,2371,195,-8.58,0.59,565.42
$IRIDIUM_FIX,4748.51,-12219.12,121007,232318
$TT8_MAMPS,0.026078
$HUMID,1854
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,44.4
$24V_AH,24.0,90.788
$10V_AH,10.7,42.583
$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,21.650,27.825,372.750,119.825,0.000,104.833,118.658,319.078,0.500,0.000,0.000,16.143,564.846,1433.203,500.609,743.616,834.715,33.339,922.394,0.000,758.697,0.000,9.583
$DEVICE_MAMPS,200.187,59.059,795.379,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,270.067,284.607,632.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19070,375
$CFSIZE,260165632,231878656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,205021,4806.168,-12222.469,10,1.4,10,18.3