version: 66.03
glider: 128
mission: 2
dive: 982
start: 10 14 107 0 49 16
data:
$ID,128
$MISSION,2
$DIVE,982
$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,-92647.844
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,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,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
$GPS1,003538,4806.917,-12223.053,35,1.2,35,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-68.6
$GPS2,004814,4806.889,-12223.049,15,1.8,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,0.130
$KALMAN_X,-12105.3,-199.2,-4.7,12034.4,34.8
$KALMAN_Y,-1598.8,66.5,-86.3,2509.8,-89.3
$MHEAD_RNG_PITCHd_Wd,346.3,215,-27.5,-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,34,-1.58,-41.5,0.0,0.0,0,84,0.00,0.00,-47.90,0.000,2,0.000,0.000,10,2330,1530
$GC,90,-1.64,-92.7,3.1,-1.3,9,147,9.12,2.28,-42.85,0.000,4,0.202,0.045,2248,964,2879
$GC,240,-1.64,-92.7,21.7,-16.2,34,246,0.00,2.25,0.00,0.000,6,0.000,0.033,2240,2351,2881
$GC,454,-1.64,-92.7,55.9,-16.3,68,458,0.00,2.22,0.00,0.000,4,0.000,0.032,2240,957,2882
$GC,615,-1.64,-92.7,83.8,-17.6,82,619,0.00,2.22,0.00,0.000,6,0.000,0.034,2231,2348,2882
$STATE,719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,719,begin apogee
$GC,731,-0.28,0.0,103.2,17.8,92,809,1.55,0.00,73.65,0.755,6,0.140,0.000,2681,2144,2499
$STATE,810,end apogee,CONTROL_FINISHED_OK
$STATE,810,begin climb
$GC,815,1.64,92.7,108.3,0.0,100,894,1.85,2.38,71.90,0.704,4,0.071,0.036,3310,764,2121
$GC,987,1.64,92.7,96.3,11.6,115,994,0.00,2.28,0.00,0.000,6,0.000,0.031,3311,2159,2120
$GC,1315,1.64,92.7,60.1,10.7,146,1319,0.00,2.28,0.00,0.000,4,0.000,0.042,3310,3551,2120
$GC,1379,1.64,92.7,53.0,11.3,151,1384,0.00,2.20,0.00,0.000,6,0.000,0.027,3320,2148,2120
$GC,1728,1.64,92.7,21.5,7.8,209,1735,0.00,2.22,0.00,0.000,4,0.000,0.037,3330,757,2119
$GC,2045,1.71,148.9,7.6,0.7,264,2095,0.00,2.22,43.42,0.719,6,0.000,0.031,3330,2158,1891
$GC,2167,1.79,212.9,5.9,-0.2,285,2223,0.00,2.35,48.90,0.684,4,0.000,0.041,3330,3553,1630
$STATE,2359,end climb,NO_VERTICAL_VELOCITY
$STATE,2359,begin surface
$SM_CCo,2365,224.00,0.649,0,0,204,563.21
$SM_GC,2.76,9.75,0.00,0.00,0.050,0.000,0.000,21,2333,195,-8.56,-0.48,565.42
$IRIDIUM_FIX,4748.51,-12219.12,141007,040437
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.9,54.8
$24V_AH,23.9,93.823
$10V_AH,10.7,43.982
$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,22.275,27.150,237.875,224.000,0.000,87.958,40.491,347.725,0.250,0.000,0.000,17.434,507.315,1088.568,496.293,658.793,724.933,33.342,841.082,0.000,669.108,0.000,2.530
$DEVICE_MAMPS,201.721,45.253,755.495,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.355,238.306,538.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15947,319
$CFSIZE,260165632,231153664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,013515,4807.074,-12223.125,9,1.5,9,18.3