version: 66.03
glider: 128
mission: 2
dive: 1072
start: 10 17 107 13 10 45
data:
$ID,128
$MISSION,2
$DIVE,1072
$D_SURF,5
$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,20
$T_MISSION,30
$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,200
$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,-95426.172
$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,56
$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
$GPS1,130001,4806.454,-12222.547,29,1.6,40,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-68.5
$GPS2,130945,4806.491,-12222.540,12,1.1,12,18.3
$SPEED_LIMITS,0.346,0.364
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,0.305
$KALMAN_X,-23359.2,-91.4,180.6,23624.9,30.0
$KALMAN_Y,3558.2,-84.3,-167.6,-3152.7,-25.6
$MHEAD_RNG_PITCHd_Wd,308.6,1101,-27.2,-20.000
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,36,-1.75,-195.5,0.0,0.0,0,81,0.00,0.00,-42.78,0.000,2,0.000,0.000,10,2366,1435
$GC,87,-1.75,-195.5,3.0,-2.2,8,149,9.18,2.30,-46.72,0.000,4,0.211,0.046,2212,948,3299
$GC,397,-1.75,-195.5,68.4,-22.9,55,401,0.00,2.28,0.00,0.000,6,0.000,0.035,2203,2351,3302
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,550,begin apogee
$GC,562,-0.28,0.0,107.1,25.4,69,720,1.62,0.00,151.90,0.733,6,0.137,0.000,2680,2137,2500
$STATE,720,end apogee,CONTROL_FINISHED_OK
$STATE,720,begin climb
$GC,726,1.75,195.5,116.7,0.0,85,888,1.98,2.35,149.35,0.697,4,0.071,0.038,3347,774,1703
$GC,946,1.75,195.5,91.1,21.2,105,953,0.00,2.28,0.00,0.000,6,0.000,0.031,3347,2151,1702
$GC,1284,1.75,195.5,22.4,20.8,148,1291,0.00,2.25,0.00,0.000,4,0.000,0.037,3357,768,1701
$GC,1380,2.00,395.9,8.5,6.3,164,1514,0.15,2.25,127.35,0.664,2,0.052,0.031,3425,2156,1020
$STATE,1519,end climb,SURFACE_DEPTH_REACHED
$STATE,1519,begin surface coast
$FINISH,2.8,1.020467
$STATE,1671,end surface coast,CONTROL_FINISHED_OK
$STATE,1671,begin surface
$SM_CCo,1700,109.05,0.646,0,0,256,550.21
$SM_GC,2.43,0.00,0.00,109.05,0.000,0.000,0.646,15,2357,256,-8.64,0.23,550.21
$IRIDIUM_FIX,4748.51,-12220.12,171007,171730
$TT8_MAMPS,0.026078
$HUMID,1871
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.7,44.1
$24V_AH,24.0,104.039
$10V_AH,10.7,48.116
$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,23.125,14.300,428.600,109.050,0.000,54.624,81.243,234.008,0.750,0.000,0.000,18.428,303.415,557.880,508.318,453.318,587.459,33.330,811.320,0.000,462.572,0.000,2.517
$DEVICE_MAMPS,210.925,46.020,733.252,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,156.712,152.949,363.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9684,215
$CFSIZE,260165632,228724736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171007,134151,4806.664,-12222.777,10,1.8,10,18.3