version: 66.03
glider: 128
mission: 2
dive: 966
start: 10 13 107 6 57 29
data:
$ID,128
$MISSION,2
$DIVE,966
$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,-90529.25
$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,53
$R_STBD_OVSHOOT,43
$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
$GPS1,065107,4806.370,-12222.468,34,1.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-68.4
$GPS2,065627,4806.278,-12222.404,13,1.2,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.162
$KALMAN_X,-10533.5,-24.7,-163.8,11244.3,-15.7
$KALMAN_Y,-123.6,-189.6,42.8,29.7,-32.1
$MHEAD_RNG_PITCHd_Wd,114.8,717,-14.1,-7.547
$D_GRID,107
$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,-36.90,0.000,2,0.000,0.000,13,2363,1246
$GC,78,-0.96,-146.6,3.0,-1.4,7,157,10.02,2.38,-60.12,0.000,4,0.204,0.059,2452,3751,3100
$GC,315,-0.96,-146.6,22.7,-10.8,48,321,0.00,2.22,0.00,0.000,6,0.000,0.027,2452,2319,3102
$GC,530,-0.96,-146.6,45.3,-11.0,85,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2319,3102
$GC,738,-0.96,-146.6,67.8,-10.9,108,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2319,3102
$GC,1069,-0.96,-146.6,104.4,-11.0,139,1074,0.00,2.38,0.00,0.000,4,0.000,0.046,2441,3745,3102
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1099,-0.28,0.0,107.1,11.2,140,1216,0.77,0.00,114.10,0.745,6,0.114,0.000,2682,2145,2500
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1223,0.96,146.6,112.8,0.0,152,1340,1.23,0.00,112.43,0.700,6,0.075,0.000,3087,2144,1901
$GC,1659,0.96,146.6,84.5,7.9,193,1663,0.00,2.35,0.00,0.000,4,0.000,0.043,3087,3555,1899
$GC,1711,0.96,146.6,80.1,8.2,197,1717,0.00,2.20,0.00,0.000,6,0.000,0.027,3097,2158,1899
$GC,2042,0.96,146.6,53.2,8.4,228,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2158,1899
$GC,2389,0.98,155.6,26.3,7.2,286,2403,0.00,2.33,8.70,0.763,4,0.000,0.037,3107,762,1865
$GC,2464,0.98,158.2,20.9,7.5,298,2477,0.00,2.22,4.20,0.579,6,0.000,0.031,3107,2151,1853
$GC,2685,1.07,229.0,5.3,5.1,336,2746,0.00,2.40,53.30,0.696,4,0.000,0.044,3107,3549,1565
$STATE,2866,end climb,NO_VERTICAL_VELOCITY
$STATE,2866,begin surface
$SM_CCo,2872,222.25,0.645,0,0,203,563.21
$SM_GC,2.79,8.85,0.00,0.00,0.041,0.000,0.000,19,2329,193,-8.57,-0.59,565.91
$IRIDIUM_FIX,4748.51,-12226.29,131007,090934
$TT8_MAMPS,0.026078
$HUMID,1886
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,43.7
$24V_AH,24.0,91.959
$10V_AH,10.7,43.114
$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,20.875,22.975,292.725,222.250,0.000,28.133,39.732,114.757,0.750,0.000,0.000,15.197,569.203,1362.852,548.766,715.783,441.076,33.334,929.252,0.000,730.579,0.000,5.473
$DEVICE_MAMPS,204.022,59.059,763.165,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,261.118,283.245,620.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19108,368
$CFSIZE,260165632,231604224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,075327,4805.987,-12222.143,13,1.4,13,18.3