version: 66.03
glider: 128
mission: 2
dive: 917
start: 10 11 107 2 22 23
data:
$ID,128
$MISSION,2
$DIVE,917
$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,514.1488
$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,-88246.914
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2790
$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,66
$R_STBD_OVSHOOT,41
$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
$GPS1,021603,4806.431,-12222.465,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-69.0
$GPS2,022121,4806.428,-12222.500,13,2.0,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.211
$KALMAN_X,-6401.0,-228.9,-129.9,7160.7,65.2
$KALMAN_Y,6852.0,104.3,136.7,-7053.2,-191.9
$MHEAD_RNG_PITCHd_Wd,314.9,1226,-14.1,-7.547
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,33,-0.96,-146.6,0.0,0.0,0,88,0.00,0.00,-53.45,0.000,2,0.000,0.000,22,2329,1654
$GC,94,-0.96,-146.6,3.1,-1.3,10,156,9.98,2.42,-44.10,0.000,4,0.202,0.058,2467,3761,3100
$GC,454,-0.96,-146.6,36.3,-10.4,73,460,0.00,2.20,0.00,0.000,6,0.000,0.027,2466,2342,3102
$GC,662,-0.96,-146.6,56.9,-9.9,104,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2342,3102
$GC,981,-0.96,-146.6,89.6,-10.8,134,985,0.00,2.35,0.00,0.000,4,0.000,0.047,2456,3756,3102
$GC,1034,-0.96,-146.6,95.4,-11.1,138,1038,0.00,2.17,0.00,0.000,6,0.000,0.026,2456,2348,3102
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1123,begin apogee
$GC,1134,-0.28,0.0,105.5,10.2,146,1252,0.75,0.00,113.72,0.736,6,0.112,0.000,2690,2153,2500
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1258,0.96,146.6,110.6,0.0,158,1377,1.23,2.35,111.78,0.689,4,0.075,0.037,3105,765,1901
$GC,1426,0.96,146.6,103.4,8.4,173,1432,0.00,2.28,0.00,0.000,6,0.000,0.031,3105,2154,1900
$GC,1757,0.96,146.6,75.1,8.7,204,1761,0.00,2.30,0.00,0.000,4,0.000,0.044,3105,3551,1899
$GC,1837,0.96,146.6,66.9,9.8,210,1843,0.00,2.20,0.00,0.000,6,0.000,0.027,3115,2156,1899
$GC,2173,0.96,146.6,38.0,8.3,253,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2155,1899
$GC,2391,0.96,146.6,21.1,7.7,290,2397,0.00,2.30,0.00,0.000,4,0.000,0.044,3115,3551,1899
$GC,2418,0.96,146.6,18.4,8.1,294,2424,0.00,2.25,0.00,0.000,6,0.000,0.028,3125,2143,1899
$GC,2495,0.98,158.0,12.6,7.2,307,2513,0.00,0.00,10.73,0.790,6,0.000,0.000,3125,2143,1855
$GC,2584,1.05,218.8,7.2,5.4,322,2635,0.00,2.35,46.42,0.688,4,0.000,0.037,3133,758,1606
$GC,2656,1.22,358.1,4.5,2.7,334,2767,0.15,2.28,105.00,0.635,6,0.057,0.030,3203,2163,1040
$GC,2840,1.51,590.7,2.7,-0.5,366,2929,0.17,0.00,85.97,0.633,2,0.053,0.000,3292,2163,433
$STATE,2930,end climb,SURFACE_DEPTH_REACHED
$STATE,2930,begin surface coast
$FINISH,1.6,1.015853
$STATE,3083,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3083,begin surface
$SM_CCo,3110,3.97,0.512,0,0,404,514.15
$SM_GC,4.05,0.00,0.00,3.97,0.000,0.000,0.512,20,2349,404,-8.66,-0.03,514.15
$IRIDIUM_FIX,4748.51,-12219.12,111007,050519
$TT8_MAMPS,0.026845
$HUMID,1883
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,48.8
$24V_AH,24.1,86.232
$10V_AH,10.7,40.572
$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,21.750,27.975,473.625,3.975,0.000,22.631,41.145,117.529,0.250,0.000,0.000,15.410,588.688,1158.746,439.590,821.067,440.583,33.369,909.466,0.000,837.218,0.000,2.520
$DEVICE_MAMPS,202.488,58.292,790.010,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.316,302.754,690.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19042,409
$CFSIZE,260165632,233000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,031623,4806.622,-12222.759,61,2.6,80,18.3