version: 66.03
glider: 128
mission: 2
dive: 853
start: 10 9 107 1 13 10
data:
$ID,128
$MISSION,2
$DIVE,853
$D_SURF,2
$D_FLARE,2
$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,26
$T_MISSION,38
$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,20
$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,530
$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,-86644.648
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$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,2400
$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
$GPS1,010725,4806.702,-12222.709,41,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-61.3
$GPS2,011156,4806.661,-12222.688,12,1.1,12,18.3
$SPEED_LIMITS,0.423,0.433
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.280,-0.330
$KALMAN_X,539.9,-1.8,15.1,3025.1,-36.2
$KALMAN_Y,-2366.0,-507.5,-202.6,-3220.6,-47.3
$MHEAD_RNG_PITCHd_Wd,121.4,1492,-17.2,-15.385
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-1.14,-146.6,0.0,0.0,0,43,0.00,0.00,-5.07,0.000,2,0.000,0.000,26,2365,360
$GC,48,-1.14,-146.6,2.5,-0.0,1,163,9.20,2.30,-98.12,0.000,4,0.192,0.046,2367,949,3000
$GC,476,-1.14,-146.6,46.7,-13.6,76,482,0.00,2.25,0.00,0.000,6,0.000,0.034,2359,2344,3002
$GC,683,-1.14,-146.6,76.0,-14.3,97,687,0.00,2.22,0.00,0.000,4,0.000,0.032,2359,952,3002
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,892,-0.28,0.0,105.3,13.8,114,1009,0.95,0.00,113.40,0.736,6,0.128,0.000,2640,2202,2399
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1015,1.14,146.6,112.2,0.0,126,1134,1.42,2.42,112.18,0.696,4,0.086,0.042,3098,3614,1801
$GC,1173,1.33,305.7,102.9,10.4,140,1301,0.17,2.30,121.18,0.686,6,0.057,0.026,3179,2196,1152
$GC,1627,1.34,310.1,34.1,15.2,191,1639,0.00,2.30,4.22,0.538,4,0.000,0.036,3188,805,1136
$GC,1665,1.34,310.1,28.2,15.5,197,1671,0.00,2.28,0.00,0.000,6,0.000,0.032,3188,2211,1136
$GC,1879,1.86,731.1,2.2,2.2,234,1920,0.38,0.00,37.83,0.684,2,0.042,0.000,3351,2212,839
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,1.9,1.018137
$STATE,2004,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2004,begin surface
$SM_CCo,2031,75.53,0.653,0,0,239,530.09
$SM_GC,2.38,0.00,0.00,75.53,0.000,0.000,0.653,16,2362,239,-8.51,0.34,530.09
$IRIDIUM_FIX,4748.51,-12226.29,091007,040454
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.4,47.4
$24V_AH,23.9,79.293
$10V_AH,10.7,38.136
$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,21.900,18.350,388.800,75.525,0.000,30.623,12.080,103.473,2.500,0.000,0.000,13.959,402.682,659.559,453.254,555.373,339.902,33.331,791.067,0.000,561.516,0.000,2.519
$DEVICE_MAMPS,191.750,49.088,736.320,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.631,189.827,432.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12825,256
$CFSIZE,260165632,234598400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,014909,4806.439,-12222.388,8,2.0,8,18.3