version: 66.03
glider: 128
mission: 2
dive: 920
start: 10 11 107 5 21 12
data:
$ID,128
$MISSION,2
$DIVE,920
$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,-88344.844
$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,58
$R_STBD_OVSHOOT,43
$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
$GPS1,050803,4806.840,-12223.198,12,1.3,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.0
$GPS2,052015,4806.891,-12223.204,10,1.8,10,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,0.124
$KALMAN_X,-7008.1,-17.4,14.3,6546.9,-48.3
$KALMAN_Y,6726.5,-224.4,-154.3,-5449.8,-140.2
$MHEAD_RNG_PITCHd_Wd,22.9,323,-21.7,-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,33,-1.29,-65.8,0.0,0.0,0,62,0.00,0.00,-26.48,0.000,2,0.000,0.000,20,2370,1157
$GC,68,-1.37,-130.0,3.1,-2.6,5,136,9.55,2.38,-53.10,0.000,4,0.206,0.044,2344,944,3032
$GC,445,-1.37,-130.0,53.5,-14.9,69,450,0.00,2.28,0.00,0.000,6,0.000,0.034,2336,2345,3033
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,778,-0.28,0.0,104.5,16.2,99,885,1.17,0.00,101.00,0.742,6,0.127,0.000,2690,2141,2500
$STATE,886,end apogee,CONTROL_FINISHED_OK
$STATE,886,begin climb
$GC,891,1.37,130.0,110.5,0.0,110,998,1.60,2.50,99.15,0.687,4,0.071,0.042,3223,3560,1969
$GC,1171,1.37,130.0,84.7,13.2,135,1175,0.00,2.28,0.00,0.000,6,0.000,0.027,3235,2138,1968
$GC,1502,1.37,130.0,45.4,11.6,168,1508,0.00,2.35,0.00,0.000,4,0.000,0.042,3234,3554,1968
$GC,1535,1.37,130.0,41.5,12.2,173,1541,0.00,2.22,0.00,0.000,6,0.000,0.028,3246,2149,1968
$GC,1749,1.37,130.0,18.6,10.6,210,1755,0.00,2.25,0.00,0.000,4,0.000,0.037,3256,746,1968
$GC,1809,1.37,130.0,12.0,11.0,220,1816,0.00,2.28,0.00,0.000,6,0.000,0.031,3256,2154,1968
$GC,1887,1.53,265.6,9.4,-2.9,233,1998,0.00,2.40,102.43,0.674,4,0.000,0.037,3264,750,1416
$GC,2064,1.60,321.2,6.9,3.3,263,2114,0.12,2.28,43.00,0.660,6,0.067,0.030,3317,2150,1189
$GC,2190,1.70,401.9,5.9,1.3,284,2262,0.00,2.38,62.75,0.648,4,0.000,0.037,3326,759,859
$GC,2334,1.79,470.9,3.2,2.2,309,2380,0.08,2.30,40.72,0.650,2,0.056,0.030,3371,2156,615
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,1.6,1.017797
$STATE,2458,end surface coast,CONTROL_FINISHED_OK
$STATE,2458,begin surface
$SM_CCo,2485,35.78,0.664,0,0,403,514.15
$SM_GC,2.44,0.00,0.00,35.78,0.000,0.000,0.664,19,2353,403,-8.66,0.08,514.15
$IRIDIUM_FIX,4748.51,-12224.57,111007,090944
$TT8_MAMPS,0.026078
$HUMID,1851
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.0,39.0
$24V_AH,24.0,86.557
$10V_AH,10.7,40.715
$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,22.225,28.450,449.050,35.775,0.000,85.918,168.553,220.952,0.250,0.000,0.000,11.561,473.061,964.417,443.136,667.417,716.719,33.333,845.129,0.000,681.908,0.000,2.510
$DEVICE_MAMPS,206.323,46.020,741.689,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.283,241.246,557.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16016,330
$CFSIZE,260165632,232923136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,060456,4807.022,-12223.109,58,1.2,59,18.3