version: 66.03
glider: 128
mission: 2
dive: 940
start: 10 12 107 2 0 53
data:
$ID,128
$MISSION,2
$DIVE,940
$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,-88799.016
$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,56
$R_STBD_OVSHOOT,49
$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
$GPS1,015437,4805.868,-12221.988,112,1.2,112,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.2
$GPS2,015951,4805.855,-12221.964,12,1.2,12,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.002,0.131
$KALMAN_X,-10540.8,-75.1,-164.1,11844.1,-39.5
$KALMAN_Y,6679.9,12.5,58.9,-7770.4,-87.5
$MHEAD_RNG_PITCHd_Wd,341.0,271,-27.5,-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,-1.58,-41.5,0.0,0.0,0,62,0.00,0.00,-26.52,0.000,2,0.000,0.000,12,2359,1164
$GC,67,-1.63,-86.6,3.0,-2.0,5,135,9.27,2.28,-50.60,0.000,4,0.209,0.046,2248,956,2855
$GC,445,-1.63,-86.6,52.6,-15.7,70,449,0.00,2.25,0.00,0.000,6,0.000,0.034,2241,2346,2857
$GC,773,-1.63,-86.6,107.8,-16.9,100,777,0.00,2.22,0.00,0.000,4,0.000,0.032,2240,949,2857
$STATE,782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,782,begin apogee
$GC,796,-0.28,0.0,110.1,17.2,101,872,1.55,0.00,68.57,0.749,6,0.142,0.000,2680,2157,2498
$STATE,873,end apogee,CONTROL_FINISHED_OK
$STATE,873,begin climb
$GC,878,1.63,86.6,115.6,0.0,109,953,1.85,2.42,66.85,0.690,4,0.072,0.041,3300,3549,2146
$GC,1059,1.63,86.6,102.6,10.4,125,1063,0.00,2.25,0.00,0.000,6,0.000,0.027,3311,2149,2145
$GC,1392,1.63,86.6,70.9,9.3,155,1396,0.00,2.25,0.00,0.000,4,0.000,0.037,3321,753,2144
$GC,1615,1.63,86.6,48.8,10.0,175,1621,0.00,2.25,0.00,0.000,6,0.000,0.031,3321,2158,2144
$GC,1828,1.63,86.6,30.2,8.3,212,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2157,2144
$GC,2044,1.65,95.2,14.8,6.5,249,2056,0.00,0.00,8.07,0.746,6,0.000,0.000,3321,2157,2112
$GC,2127,1.67,112.4,9.8,5.4,263,2145,0.00,0.00,14.95,0.751,6,0.000,0.000,3321,2157,2040
$GC,2216,1.69,129.4,5.3,5.5,278,2234,0.00,0.00,13.38,0.705,6,0.000,0.000,3321,2157,1972
$GC,2305,1.77,195.9,5.6,-0.6,293,2360,0.00,0.00,50.55,0.666,6,0.000,0.000,3321,2158,1700
$GC,2431,1.84,250.1,4.8,0.9,315,2482,0.15,2.38,41.15,0.661,4,0.067,0.043,3387,3539,1479
$STATE,2487,end climb,NO_VERTICAL_VELOCITY
$STATE,2487,begin surface
$SM_CCo,2493,223.02,0.619,0,0,203,563.21
$SM_GC,2.59,9.88,0.00,0.00,0.046,0.000,0.000,15,2324,195,-8.58,-0.74,565.17
$IRIDIUM_FIX,4748.51,-12219.12,121007,050531
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.0,36.5
$24V_AH,24.1,88.831
$10V_AH,10.7,41.725
$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,22.700,22.250,263.525,223.025,0.000,30.991,34.130,114.294,1.250,0.000,0.000,14.467,517.022,1043.051,505.361,676.370,419.561,33.342,865.463,0.000,684.934,0.000,15.564
$DEVICE_MAMPS,209.391,46.020,750.893,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.674,247.793,548.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15942,325
$CFSIZE,260165632,232353792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,024857,4805.961,-12222.015,9,1.7,9,18.3