version: 66.03
glider: 128
mission: 2
dive: 1009
start: 10 15 107 4 29 17
data:
$ID,128
$MISSION,2
$DIVE,1009
$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,-94022.945
$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,60
$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
$GPS1,041957,4806.097,-12222.238,14,1.5,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-68.1
$GPS2,042815,4806.099,-12222.219,11,1.4,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,0.210
$KALMAN_X,-14478.8,-88.7,-45.9,15361.1,-7.4
$KALMAN_Y,-3398.3,23.6,31.9,2776.5,-47.4
$MHEAD_RNG_PITCHd_Wd,314.2,1928,-14.1,-7.547
$D_GRID,107
$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,34,-0.96,-146.6,0.0,0.0,0,95,0.00,0.00,-58.72,0.000,2,0.000,0.000,20,2354,1835
$GC,101,-0.96,-146.6,3.2,-1.6,11,159,10.02,2.35,-41.08,0.000,4,0.204,0.057,2455,3757,3098
$GC,468,-0.96,-146.6,37.6,-10.8,75,474,0.00,2.20,0.00,0.000,6,0.000,0.026,2455,2337,3100
$GC,676,-0.96,-146.6,59.5,-10.4,104,680,0.00,2.35,0.00,0.000,4,0.000,0.045,2445,3755,3100
$GC,785,-0.96,-146.6,71.8,-10.2,113,789,0.00,2.17,0.00,0.000,6,0.000,0.026,2445,2348,3100
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1120,-0.28,0.0,107.3,11.0,143,1237,0.77,0.00,114.18,0.739,6,0.114,0.000,2685,2149,2500
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1243,0.96,146.6,112.4,0.0,155,1360,1.20,0.00,112.62,0.696,6,0.074,0.000,3083,2148,1901
$GC,1678,0.96,146.6,83.4,7.8,196,1682,0.00,2.35,0.00,0.000,4,0.000,0.042,3084,3558,1899
$GC,1718,0.96,146.6,79.8,8.8,199,1725,0.00,2.22,0.00,0.000,6,0.000,0.027,3094,2153,1899
$GC,2053,0.96,146.6,54.2,7.9,230,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2152,1899
$GC,2399,0.97,150.4,27.0,7.4,287,2411,0.00,2.38,4.78,0.613,4,0.000,0.042,3094,3551,1886
$GC,2449,0.97,150.4,23.0,8.1,295,2455,0.00,2.22,0.00,0.000,6,0.000,0.027,3104,2141,1886
$GC,2664,1.01,181.5,7.3,6.5,332,2693,0.00,0.00,25.10,0.741,6,0.000,0.000,3104,2141,1759
$GC,2764,1.26,389.9,3.6,0.3,349,2888,0.20,2.38,117.43,0.658,4,0.051,0.038,3204,760,909
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3013,begin surface coast
$FINISH,2.0,1.021262
$STATE,3019,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3019,begin surface
$SM_CCo,3049,86.03,0.653,0,0,256,550.21
$SM_GC,2.33,0.00,0.00,86.03,0.000,0.000,0.653,21,2350,256,-8.62,0.00,550.21
$IRIDIUM_FIX,4748.51,-12155.88,151007,080816
$TT8_MAMPS,0.026078
$HUMID,1886
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,47.3
$24V_AH,23.9,96.790
$10V_AH,10.7,45.352
$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,21.475,23.500,374.100,86.025,0.000,53.187,24.397,216.039,0.500,0.000,0.000,13.307,582.554,1277.153,458.780,772.690,557.614,33.371,873.370,0.000,792.306,0.000,5.484
$DEVICE_MAMPS,204.022,56.758,740.922,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.263,299.970,664.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19194,394
$CFSIZE,260165632,230379520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,052301,4806.266,-12222.361,37,0.9,43,18.3