version: 66.03
glider: 128
mission: 2
dive: 891
start: 10 10 107 5 22 23
data:
$ID,128
$MISSION,2
$DIVE,891
$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,30
$T_MISSION,40
$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,0
$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,-87556.008
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$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,2300
$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
$GPS1,050057,4806.858,-12222.983,12,1.3,12,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-63.3
$GPS2,052126,4807.070,-12223.090,10,1.5,15,18.3
$SPEED_LIMITS,0.231,0.284
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.236
$KALMAN_X,-1081.3,-425.8,-164.3,1348.4,-38.8
$KALMAN_Y,1357.6,521.7,219.5,-881.0,62.4
$MHEAD_RNG_PITCHd_Wd,127.5,2397,-23.0,-13.333
$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,-1.46,-146.6,0.0,0.0,0,95,0.00,0.00,-58.75,0.000,2,0.000,0.000,13,2356,1747
$GC,101,-1.46,-146.6,3.1,-2.3,11,163,9.27,2.35,-43.67,0.000,4,0.202,0.058,2294,3745,2899
$GC,228,-1.46,-146.6,17.7,-19.3,33,234,0.00,2.20,0.00,0.000,6,0.000,0.026,2294,2327,2901
$GC,305,-1.46,-146.6,30.9,-16.8,46,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2326,2901
$GC,517,-1.46,-146.6,66.8,-16.8,75,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2326,2901
$STATE,735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,735,begin apogee
$GC,747,-0.28,0.0,104.1,16.5,96,865,1.30,0.00,113.85,0.736,6,0.135,0.000,2679,2205,2300
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,870,1.46,146.6,109.7,0.0,108,991,1.73,2.42,112.35,0.689,4,0.081,0.041,3241,3604,1701
$GC,1014,1.46,146.6,96.5,14.9,120,1020,0.00,2.28,0.00,0.000,6,0.000,0.027,3252,2222,1700
$GC,1345,1.46,146.6,42.6,15.4,155,1351,0.00,2.30,0.00,0.000,4,0.000,0.037,3262,798,1699
$GC,1399,1.46,146.6,34.4,14.9,164,1406,0.00,2.25,0.00,0.000,6,0.000,0.031,3262,2201,1699
$GC,1614,1.55,220.5,4.3,8.8,201,1643,0.00,0.00,26.85,0.709,2,0.000,0.000,3262,2202,1491
$STATE,1644,end climb,SURFACE_DEPTH_REACHED
$STATE,1644,begin surface coast
$FINISH,1.5,1.019215
$STATE,1666,end surface coast,CONTROL_FINISHED_OK
$STATE,1666,begin surface
$SM_CCo,1692,164.90,0.632,0,0,203,514.15
$SM_GC,2.39,0.00,0.00,164.90,0.000,0.000,0.632,21,2355,203,-8.62,0.14,514.15
$IRIDIUM_FIX,4748.51,-12221.84,101007,090903
$TT8_MAMPS,0.026078
$HUMID,1802
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.4,43.0
$24V_AH,24.1,83.516
$10V_AH,10.7,39.497
$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,21.975,14.150,253.050,164.900,0.000,138.449,97.204,586.136,0.250,0.000,0.000,16.656,331.789,846.160,453.755,427.499,1042.237,33.328,717.158,0.000,433.002,0.000,2.515
$DEVICE_MAMPS,202.488,57.525,735.553,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,150.488,156.632,354.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9673,210
$CFSIZE,260165632,233676800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,055415,4806.920,-12222.974,10,1.3,10,18.3