version: 66.03
glider: 128
mission: 2
dive: 952
start: 10 12 107 15 38 53
data:
$ID,128
$MISSION,2
$DIVE,952
$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,-89180.977
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,152922,4807.026,-12223.024,8,3.6,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-66.2
$GPS2,153753,4807.022,-12223.043,12,4.0,31,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.173
$KALMAN_X,-9981.3,129.9,-98.7,9683.7,-183.1
$KALMAN_Y,3052.7,-468.4,-7.8,-1438.4,88.8
$MHEAD_RNG_PITCHd_Wd,118.6,2290,-14.1,-7.547
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,73,0.00,0.00,-37.08,0.000,2,0.000,0.000,14,2324,1249
$GC,79,-0.96,-146.6,3.1,-1.5,7,159,9.98,2.20,-62.70,0.000,4,0.202,0.045,2466,956,3099
$GC,467,-0.96,-146.6,34.4,-9.4,75,474,0.00,2.28,0.00,0.000,6,0.000,0.034,2461,2345,3101
$GC,687,-0.96,-146.6,55.4,-10.0,108,691,0.00,2.20,0.00,0.000,4,0.000,0.032,2461,958,3101
$GC,830,-0.96,-146.6,70.6,-10.5,120,836,0.00,2.25,0.00,0.000,6,0.000,0.035,2457,2357,3101
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1158,begin apogee
$GC,1169,-0.28,0.0,105.5,10.8,151,1286,0.73,0.00,113.95,0.739,6,0.104,0.000,2687,2138,2500
$STATE,1287,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1292,0.96,146.6,111.0,0.0,163,1409,1.20,0.00,112.18,0.693,6,0.072,0.000,3088,2138,1901
$GC,1728,0.96,146.6,81.2,8.3,204,1732,0.00,2.35,0.00,0.000,4,0.000,0.043,3088,3552,1900
$GC,1791,0.96,146.6,75.2,9.5,209,1798,0.00,2.22,0.00,0.000,6,0.000,0.027,3098,2145,1900
$GC,2126,0.96,146.6,48.4,8.0,241,2132,0.00,2.22,0.00,0.000,4,0.000,0.038,3109,759,1900
$GC,2164,0.96,146.6,44.8,8.1,247,2170,0.00,2.22,0.00,0.000,6,0.000,0.031,3109,2154,1900
$GC,2378,0.96,146.6,27.0,8.5,284,2384,0.00,2.30,0.00,0.000,4,0.000,0.044,3109,3556,1900
$GC,2427,0.96,146.6,22.8,8.7,292,2434,0.00,2.25,0.00,0.000,6,0.000,0.027,3119,2148,1900
$GC,2642,0.98,161.8,6.8,7.0,329,2660,0.00,2.33,13.07,0.808,4,0.000,0.037,3128,754,1839
$GC,2760,1.32,439.0,4.1,-2.1,349,2951,0.22,2.25,179.00,0.651,6,0.051,0.030,3223,2159,709
$GC,3023,1.58,649.2,2.6,0.3,395,3047,0.15,0.00,21.52,0.667,2,0.057,0.000,3303,2159,560
$STATE,3048,end climb,NO_VERTICAL_VELOCITY
$STATE,3048,begin surface
$SM_CCo,3053,55.42,0.617,0,0,203,563.21
$SM_GC,2.76,9.65,0.00,0.00,0.048,0.000,0.000,12,2356,195,-8.58,0.17,565.42
$IRIDIUM_FIX,4751.72,-12221.84,121007,191934
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,43.7
$24V_AH,24.0,90.336
$10V_AH,10.7,42.377
$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,21.925,27.675,439.725,55.425,0.000,52.891,27.622,210.332,0.250,0.000,0.000,33.577,577.160,1328.929,474.026,811.690,557.979,33.342,919.811,0.000,811.494,0.000,2.515
$DEVICE_MAMPS,201.721,45.253,808.418,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.591,299.450,673.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19129,399
$CFSIZE,260165632,231997440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,163401,4806.814,-12222.817,36,1.5,41,18.3