version: 66.03
glider: 128
mission: 2
dive: 974
start: 10 13 107 16 9 54
data:
$ID,128
$MISSION,2
$DIVE,974
$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,-92487.695
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,160007,4806.784,-12222.914,49,1.5,49,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-69.2
$GPS2,160857,4806.842,-12222.975,11,1.6,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,-0.181
$KALMAN_X,-11356.4,-6.6,9.3,11172.2,-170.9
$KALMAN_Y,-718.6,-137.6,-90.0,1748.0,179.5
$MHEAD_RNG_PITCHd_Wd,121.8,1971,-14.1,-7.547
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-48.05,0.000,2,0.000,0.000,21,2356,1521
$GC,91,-0.96,-146.6,3.0,-1.1,9,160,10.00,2.40,-53.22,0.000,4,0.203,0.058,2457,3753,3099
$GC,180,-0.96,-146.6,6.8,-6.4,24,187,0.00,2.22,0.00,0.000,6,0.000,0.026,2457,2319,3100
$GC,258,-0.96,-146.6,14.5,-10.5,37,264,0.00,2.15,0.00,0.000,4,0.000,0.033,2457,972,3101
$GC,352,-0.96,-146.6,24.5,-10.6,53,359,0.00,2.22,0.00,0.000,6,0.000,0.034,2453,2347,3101
$GC,567,-0.96,-146.6,47.0,-10.7,90,573,0.00,2.33,0.00,0.000,4,0.000,0.047,2442,3754,3102
$GC,621,-0.96,-146.6,53.4,-12.2,96,627,0.00,2.20,0.00,0.000,6,0.000,0.026,2442,2344,3102
$GC,954,-0.96,-146.6,89.5,-10.7,127,958,0.00,2.17,0.00,0.000,4,0.000,0.032,2442,976,3102
$GC,996,-0.96,-146.6,94.9,-11.2,130,1001,0.12,2.22,0.00,0.000,6,0.133,0.034,2471,2355,3102
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1086,-0.28,0.0,103.5,9.8,137,1204,0.68,0.00,114.25,0.742,6,0.104,0.000,2686,2149,2499
$STATE,1205,end apogee,CONTROL_FINISHED_OK
$STATE,1205,begin climb
$GC,1210,0.96,146.6,108.6,0.0,149,1327,1.20,0.00,112.30,0.701,6,0.072,0.000,3086,2149,1902
$GC,1646,0.96,146.6,80.4,8.3,190,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2148,1900
$GC,1974,0.97,152.1,55.0,7.4,221,1986,0.00,2.35,6.12,0.689,4,0.000,0.043,3086,3560,1878
$GC,2024,0.97,152.1,51.0,8.5,225,2028,0.00,2.20,0.00,0.000,6,0.000,0.027,3095,2166,1878
$GC,2372,0.97,152.1,24.4,7.7,284,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2165,1878
$GC,2589,1.00,176.8,9.4,6.7,321,2618,0.00,2.35,20.40,0.755,4,0.000,0.038,3105,752,1778
$GC,2782,1.27,393.8,4.5,0.0,354,2947,0.22,2.25,152.65,0.663,6,0.049,0.030,3205,2156,893
$GC,3018,1.54,612.7,2.2,-0.0,395,3048,0.17,0.00,26.75,0.665,2,0.054,0.000,3292,2156,678
$STATE,3049,end climb,SURFACE_DEPTH_REACHED
$STATE,3049,begin surface coast
$FINISH,2.1,1.019341
$STATE,3106,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3106,begin surface
$SM_CCo,3112,61.38,0.646,0,0,204,563.21
$SM_GC,2.51,9.52,0.00,0.00,0.046,0.000,0.000,23,2368,195,-8.56,0.51,565.42
$IRIDIUM_FIX,4745.30,-12254.95,131007,202044
$TT8_MAMPS,0.026078
$HUMID,1879
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.9,43.7
$24V_AH,23.9,92.912
$10V_AH,10.7,43.573
$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,21.925,27.675,432.475,61.375,0.000,60.838,43.545,218.806,0.250,0.000,0.000,12.715,601.506,1339.171,477.636,808.329,600.908,33.336,931.068,0.000,827.426,0.000,2.513
$DEVICE_MAMPS,203.255,58.292,755.495,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.756,306.275,691.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19026,410
$CFSIZE,260165632,231374848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,170538,4806.592,-12222.794,6,1.2,12,18.3