version: 66.03
glider: 128
mission: 2
dive: 1045
start: 10 16 107 17 37 24
data:
$ID,128
$MISSION,2
$DIVE,1045
$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,-94852.414
$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,63
$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
$GPS1,172739,4807.342,-12223.474,10,1.2,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-66.0
$GPS2,173623,4807.457,-12223.534,13,2.4,32,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.189
$KALMAN_X,-20903.8,10.7,-311.1,20328.8,-125.5
$KALMAN_Y,2386.9,-48.8,443.7,-840.3,177.5
$MHEAD_RNG_PITCHd_Wd,124.7,1074,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,35,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-48.08,0.000,2,0.000,0.000,13,2335,1564
$GC,91,-0.96,-146.6,3.3,-3.1,9,154,10.15,2.42,-42.95,0.000,4,0.206,0.058,2457,3748,3100
$GC,198,-0.96,-146.6,12.1,-10.5,27,204,0.00,2.20,0.00,0.000,6,0.000,0.026,2457,2329,3101
$GC,275,-0.96,-146.6,20.3,-10.1,40,282,0.00,2.17,0.00,0.000,4,0.000,0.033,2457,966,3101
$GC,308,-0.96,-146.6,23.8,-10.7,45,314,0.00,2.25,0.00,0.000,6,0.000,0.034,2454,2355,3101
$GC,524,-0.96,-146.6,45.4,-10.6,82,530,0.00,2.22,0.00,0.000,4,0.000,0.033,2454,966,3102
$GC,562,-0.96,-146.6,49.6,-10.8,88,568,0.00,2.25,0.00,0.000,6,0.000,0.035,2452,2358,3102
$GC,762,-0.96,-146.6,71.0,-11.0,107,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2358,3102
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1065,-0.28,0.0,103.4,10.8,135,1183,0.73,0.00,114.45,0.737,6,0.108,0.000,2680,2156,2500
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1190,0.96,146.6,108.8,0.0,147,1310,1.23,0.00,112.55,0.691,6,0.074,0.000,3088,2156,1901
$GC,1631,0.96,146.6,79.1,8.4,189,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2156,1899
$GC,1959,0.96,146.6,51.4,7.9,220,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2156,1899
$GC,2308,0.97,150.1,25.5,7.4,280,2314,0.00,0.00,4.43,0.591,6,0.000,0.000,3088,2156,1887
$GC,2523,0.99,165.2,10.6,7.0,317,2541,0.00,0.00,13.50,0.815,6,0.000,0.000,3088,2156,1826
$GC,2612,1.18,325.7,7.0,2.0,332,2740,0.17,2.47,121.18,0.660,4,0.054,0.041,3173,3560,1171
$STATE,2854,end climb,SURFACE_DEPTH_REACHED
$STATE,2854,begin surface coast
$FINISH,1.4,1.021708
$STATE,2895,end surface coast,CONTROL_FINISHED_OK
$STATE,2895,begin surface
$SM_CCo,2925,134.65,0.644,0,0,256,550.21
$SM_GC,2.25,0.00,0.00,134.65,0.000,0.000,0.644,22,2339,256,-8.62,-0.31,550.21
$IRIDIUM_FIX,4748.51,-12226.29,161007,212109
$TT8_MAMPS,0.026078
$HUMID,1865
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,78.1,45.1
$24V_AH,24.0,100.847
$10V_AH,10.7,47.151
$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,21.350,18.225,366.100,134.650,0.000,55.187,34.736,205.613,0.750,0.000,0.000,35.039,558.700,1223.903,507.060,748.612,560.131,33.348,904.279,0.000,748.821,0.000,2.517
$DEVICE_MAMPS,206.323,58.292,814.554,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,271.099,289.778,644.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19112,382
$CFSIZE,260165632,229351424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,182921,4807.247,-12223.428,12,1.6,12,18.3