version: 66.03
glider: 128
mission: 2
dive: 1012
start: 10 15 107 7 35 11
data:
$ID,128
$MISSION,2
$DIVE,1012
$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,-94085.188
$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,40
$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
$GPS1,072907,4806.668,-12222.803,8,1.9,24,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-70.4
$GPS2,073414,4806.683,-12222.799,13,2.0,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,0.217
$KALMAN_X,-14392.5,9.9,-39.0,14454.8,65.7
$KALMAN_Y,-3905.5,-106.9,7.3,4514.0,-142.9
$MHEAD_RNG_PITCHd_Wd,318.3,638,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,40,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-42.85,0.000,2,0.000,0.000,23,2355,1412
$GC,91,-0.96,-146.6,3.3,-2.0,8,160,10.07,2.30,-52.17,0.000,4,0.206,0.046,2464,948,3098
$GC,261,-0.96,-146.6,16.9,-10.8,37,267,0.00,2.28,0.00,0.000,6,0.000,0.034,2460,2349,3100
$GC,339,-0.96,-146.6,25.0,-10.5,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2349,3100
$GC,553,-0.96,-146.6,46.7,-10.0,87,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2349,3101
$GC,755,-0.96,-146.6,67.5,-10.5,108,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2349,3101
$GC,1082,-0.96,-146.6,101.6,-10.5,139,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2349,3101
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1109,-0.28,0.0,103.6,10.4,141,1227,0.70,0.00,114.43,0.735,6,0.106,0.000,2681,2137,2500
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1233,0.96,146.6,108.7,0.0,153,1351,1.23,0.00,112.75,0.691,6,0.073,0.000,3087,2137,1901
$GC,1672,0.96,146.6,79.5,8.0,195,1676,0.00,2.35,0.00,0.000,4,0.000,0.043,3087,3556,1900
$GC,1724,0.96,146.6,74.7,8.9,199,1731,0.00,2.22,0.00,0.000,6,0.000,0.027,3097,2148,1900
$GC,2059,0.96,146.6,47.6,8.3,232,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2148,1899
$GC,2275,0.96,146.6,29.9,7.9,269,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2148,1900
$GC,2491,0.99,170.5,14.0,6.7,306,2514,0.00,0.00,20.08,0.766,6,0.000,0.000,3097,2148,1803
$GC,2586,1.04,205.4,7.5,6.3,322,2621,0.00,2.35,27.80,0.692,4,0.000,0.041,3097,3552,1661
$GC,2698,1.40,502.3,6.2,-2.7,341,2934,0.35,2.25,223.12,0.642,6,0.044,0.026,3246,2131,451
$STATE,2938,end climb,SURFACE_DEPTH_REACHED
$STATE,2938,begin surface coast
$FINISH,1.5,1.000837
$STATE,3001,end surface coast,CONTROL_FINISHED_OK
$STATE,3001,begin surface
$SM_CCo,3029,31.23,0.661,0,0,257,550.21
$SM_GC,3.03,0.00,0.00,31.23,0.000,0.000,0.661,22,2362,257,-8.62,0.34,550.21
$IRIDIUM_FIX,4745.30,-12136.45,151007,101014
$TT8_MAMPS,0.027612
$HUMID,1869
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.2,51.0
$24V_AH,24.0,97.127
$10V_AH,10.7,45.502
$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,21.725,14.425,498.175,31.225,0.000,30.533,15.085,121.439,0.250,0.000,0.000,14.732,547.907,1154.292,498.173,751.394,426.906,33.349,933.832,0.000,769.880,0.000,2.525
$DEVICE_MAMPS,206.323,46.020,766.233,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.888,293.202,666.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19082,395
$CFSIZE,260165632,230293504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,082729,4806.867,-12223.025,12,3.6,31,18.3