version: 66.03
glider: 128
mission: 2
dive: 912
start: 10 10 107 21 11 33
data:
$ID,128
$MISSION,2
$DIVE,912
$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,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,-88133.234
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2790
$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,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2475
$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
$GPS1,210216,4806.106,-12222.085,31,2.9,50,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-71.0
$GPS2,211037,4806.229,-12222.135,37,1.4,43,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,-0.193
$KALMAN_X,-5219.5,-546.2,-62.5,6684.8,-82.2
$KALMAN_Y,6250.0,540.9,33.1,-7164.1,135.8
$MHEAD_RNG_PITCHd_Wd,137.7,455,-16.3,-7.547
$D_GRID,108
$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,33,-1.05,-112.9,0.0,0.0,0,67,0.00,0.00,-31.83,0.000,2,0.000,0.000,14,2332,1205
$GC,73,-1.09,-146.6,3.1,-2.2,6,152,9.85,2.30,-58.70,0.000,4,0.203,0.046,2437,949,3075
$GC,200,-1.09,-146.6,14.3,-12.8,28,207,0.00,2.28,0.00,0.000,6,0.000,0.034,2430,2351,3076
$GC,278,-1.09,-146.6,22.9,-10.9,41,284,0.00,2.35,0.00,0.000,4,0.000,0.047,2420,3753,3076
$GC,299,-1.09,-146.6,25.2,-10.7,44,305,0.00,2.20,0.00,0.000,6,0.000,0.026,2420,2333,3076
$GC,513,-1.09,-146.6,49.7,-11.9,81,519,0.00,2.38,0.00,0.000,4,0.000,0.048,2410,3763,3077
$GC,539,-1.09,-146.6,52.8,-11.9,84,543,0.12,2.17,0.00,0.000,6,0.136,0.026,2441,2351,3077
$GC,866,-1.09,-146.6,90.2,-11.7,114,870,0.00,2.20,0.00,0.000,4,0.000,0.033,2441,967,3077
$GC,890,-1.09,-146.6,93.5,-13.1,115,897,0.00,2.22,0.00,0.000,6,0.000,0.034,2441,2353,3077
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1032,-0.28,0.0,108.7,11.3,128,1149,0.80,0.00,113.50,0.736,6,0.108,0.000,2693,2149,2475
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1156,1.09,146.6,113.5,0.0,140,1275,1.33,2.33,112.22,0.686,4,0.073,0.036,3143,768,1876
$GC,1359,1.09,146.6,100.8,10.5,158,1363,0.00,2.25,0.00,0.000,6,0.000,0.030,3143,2151,1875
$GC,1696,1.09,146.6,68.0,9.9,189,1700,0.00,2.33,0.00,0.000,4,0.000,0.044,3143,3561,1874
$GC,1720,1.09,146.6,65.0,10.1,190,1726,0.00,2.22,0.00,0.000,6,0.000,0.027,3153,2150,1874
$GC,2059,1.09,146.6,31.9,9.1,237,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2150,1874
$GC,2276,1.09,149.1,14.0,7.4,274,2282,0.00,2.22,0.00,0.000,4,0.000,0.037,3164,758,1874
$GC,2291,1.12,174.3,12.8,6.4,276,2320,0.00,2.22,22.73,0.760,6,0.000,0.031,3163,2154,1763
$GC,2392,1.30,321.4,8.8,0.9,293,2509,0.12,2.40,110.85,0.654,4,0.066,0.036,3229,760,1163
$STATE,2723,end climb,NO_VERTICAL_VELOCITY
$STATE,2724,begin surface
$SM_CCo,2730,177.52,0.638,0,0,203,557.08
$SM_GC,3.03,9.32,0.00,0.00,0.042,0.000,0.000,18,2357,195,-8.60,0.23,559.28
$IRIDIUM_FIX,4748.51,-12226.29,111007,010143
$TT8_MAMPS,0.026078
$HUMID,1858
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,54.4
$24V_AH,24.0,85.669
$10V_AH,10.7,40.311
$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,21.550,37.025,359.300,177.525,0.000,59.173,74.111,127.144,0.750,0.000,0.000,45.280,532.305,1191.971,547.854,737.801,521.933,33.338,949.089,0.000,718.851,0.000,5.504
$DEVICE_MAMPS,203.255,47.554,760.097,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.566,265.099,594.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15985,352
$CFSIZE,260165632,233152512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,220321,4806.043,-12222.182,30,1.9,43,18.3