version: 66.03
glider: 128
mission: 2
dive: 972
start: 10 13 107 14 15 0
data:
$ID,128
$MISSION,2
$DIVE,972
$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,563.2088
$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,-92456.875
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,140752,4807.062,-12223.109,12,1.5,19,18.3
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.7
$GPS2,141404,4807.090,-12223.136,8,3.2,27,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.124
$KALMAN_X,-11004.7,76.0,62.1,10484.9,-145.0
$KALMAN_Y,-887.6,-296.4,-142.4,2586.0,175.6
$MHEAD_RNG_PITCHd_Wd,119.3,237,-21.2,-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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,38,-1.26,-69.0,0.0,0.0,0,83,0.00,0.00,-42.88,0.000,2,0.000,0.000,16,2361,1412
$GC,89,-1.36,-146.6,3.2,-1.3,8,158,9.68,2.38,-53.08,0.000,4,0.210,0.058,2329,3745,3100
$GC,265,-1.36,-146.6,23.1,-16.3,38,271,0.00,2.22,0.00,0.000,6,0.000,0.026,2329,2332,3102
$GC,484,-1.36,-146.6,57.5,-16.2,72,488,0.00,2.35,0.00,0.000,4,0.000,0.046,2319,3749,3102
$GC,509,-1.36,-146.6,62.7,-17.1,73,515,0.00,2.15,0.00,0.000,6,0.000,0.026,2318,2347,3102
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,758,-0.28,0.0,104.4,17.0,96,876,1.23,0.00,114.38,0.740,6,0.128,0.000,2684,2150,2500
$STATE,877,end apogee,CONTROL_FINISHED_OK
$STATE,877,begin climb
$GC,882,1.36,146.6,110.9,0.0,108,1003,1.58,2.42,112.22,0.700,4,0.073,0.041,3208,3549,1901
$GC,1041,1.36,146.6,101.1,12.4,122,1045,0.00,2.25,0.00,0.000,6,0.000,0.027,3219,2166,1900
$GC,1373,1.36,146.6,60.6,11.7,152,1377,0.00,2.28,0.00,0.000,4,0.000,0.037,3229,753,1900
$GC,1454,1.36,146.6,50.2,11.7,159,1458,0.00,2.22,0.00,0.000,6,0.000,0.031,3229,2147,1900
$GC,1803,1.36,146.6,10.4,10.6,219,1809,0.00,2.33,0.00,0.000,4,0.000,0.044,3230,3548,1899
$STATE,2051,end climb,NO_VERTICAL_VELOCITY
$STATE,2052,begin surface
$SM_CCo,2058,250.62,0.653,0,0,203,563.21
$SM_GC,2.56,9.32,0.00,0.00,0.042,0.000,0.000,12,2329,196,-8.58,-0.59,565.17
$IRIDIUM_FIX,4748.51,-12224.57,131007,171740
$TT8_MAMPS,0.026078
$HUMID,1840
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.8,44.2
$24V_AH,24.0,92.690
$10V_AH,10.7,43.467
$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,21.800,22.825,226.600,250.625,0.000,28.157,12.738,176.880,0.500,0.000,0.000,29.833,425.843,871.237,515.478,557.957,435.086,33.336,813.110,0.000,551.719,0.000,2.515
$DEVICE_MAMPS,210.158,57.525,740.155,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,186.372,199.267,443.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12795,263
$CFSIZE,260165632,231444480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,145641,4806.961,-12223.003,9,3.2,28,18.3