version: 66.03
glider: 128
mission: 2
dive: 957
start: 10 12 107 20 59 58
data:
$ID,128
$MISSION,2
$DIVE,957
$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,-89262.938
$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,44
$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
$GPS1,205021,4806.168,-12222.469,10,1.4,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.3
$GPS2,205902,4806.107,-12222.440,8,1.4,8,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.081,0.222
$KALMAN_X,-10404.1,-170.1,-134.1,11185.6,10.9
$KALMAN_Y,2235.7,-131.2,119.2,-2776.4,-105.4
$MHEAD_RNG_PITCHd_Wd,321.6,1792,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-42.85,0.000,2,0.000,0.000,16,2372,1400
$GC,85,-0.96,-146.6,3.1,-2.2,8,164,9.77,2.35,-59.12,0.000,4,0.195,0.058,2453,3742,3100
$GC,190,-0.96,-146.6,7.9,-8.7,26,196,0.00,2.22,0.00,0.000,6,0.000,0.027,2453,2317,3101
$GC,267,-0.96,-146.6,16.0,-10.6,39,274,0.00,2.17,0.00,0.000,4,0.000,0.033,2453,976,3101
$GC,390,-0.96,-146.6,28.9,-10.5,60,396,0.00,2.22,0.00,0.000,6,0.000,0.034,2448,2350,3102
$GC,606,-0.96,-146.6,51.6,-10.8,96,609,0.00,2.30,0.00,0.000,4,0.000,0.047,2439,3755,3102
$GC,666,-0.96,-146.6,58.9,-11.7,101,670,0.12,2.17,0.00,0.000,6,0.130,0.026,2471,2349,3102
$GC,993,-0.96,-146.6,92.4,-10.1,131,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2348,3102
$STATE,1094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1094,begin apogee
$GC,1106,-0.28,0.0,103.3,10.0,141,1224,0.68,0.00,114.12,0.736,6,0.107,0.000,2685,2155,2500
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1230,0.96,146.6,108.4,0.0,153,1349,1.20,2.35,112.32,0.691,4,0.076,0.037,3092,764,1900
$GC,1378,0.98,162.0,102.7,7.0,166,1400,0.00,2.28,13.77,0.686,6,0.000,0.030,3092,2154,1837
$GC,1721,0.98,162.0,74.0,8.1,198,1725,0.00,2.30,0.00,0.000,4,0.000,0.044,3092,3548,1836
$GC,1767,0.98,162.0,69.6,9.3,201,1773,0.00,2.22,0.00,0.000,6,0.000,0.027,3101,2143,1837
$GC,2103,0.98,162.0,41.3,8.7,240,2109,0.00,2.33,0.00,0.000,4,0.000,0.043,3101,3549,1836
$GC,2157,0.98,162.0,36.2,9.2,249,2164,0.00,2.22,0.00,0.000,6,0.000,0.028,3111,2140,1836
$GC,2372,0.98,162.0,18.2,8.3,286,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2140,1836
$GC,2449,0.98,162.0,12.3,7.8,299,2455,0.00,2.22,0.00,0.000,4,0.000,0.038,3121,757,1836
$GC,2566,1.06,227.0,4.6,5.3,319,2622,0.00,2.22,48.88,0.703,6,0.000,0.031,3121,2154,1573
$GC,2693,1.33,441.3,4.2,0.1,341,2745,0.20,0.00,48.47,0.672,2,0.051,0.000,3220,2154,1310
$STATE,2746,end climb,NO_VERTICAL_VELOCITY
$STATE,2746,begin surface
$SM_CCo,2752,205.77,0.630,0,0,203,563.21
$SM_GC,2.75,9.32,0.00,0.00,0.043,0.000,0.000,9,2361,196,-8.59,0.31,565.17
$IRIDIUM_FIX,4748.51,-12226.29,131007,000044
$TT8_MAMPS,0.026078
$HUMID,1847
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.5,45.5
$24V_AH,23.8,90.908
$10V_AH,10.7,42.631
$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,21.300,32.175,337.575,205.775,0.000,57.649,51.821,208.008,0.250,0.000,0.000,13.917,535.047,1214.093,567.414,699.042,584.634,33.338,966.880,0.000,716.620,0.000,2.518
$DEVICE_MAMPS,194.818,58.292,735.553,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.215,262.211,590.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,350
$CFSIZE,260165632,231858176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,215203,4806.319,-12222.688,10,2.0,10,18.3