version: 66.03
glider: 128
mission: 2
dive: 986
start: 10 14 107 4 46 6
data:
$ID,128
$MISSION,2
$DIVE,986
$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,-92701.562
$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,59
$R_STBD_OVSHOOT,44
$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
$GPS1,043551,4806.408,-12222.546,7,1.7,7,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.7
$GPS2,044509,4806.411,-12222.598,12,1.3,12,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,-0.157
$KALMAN_X,-12684.6,-126.7,-24.9,13118.7,-76.3
$KALMAN_Y,-1587.4,-16.7,-11.3,1624.2,4.0
$MHEAD_RNG_PITCHd_Wd,113.2,1061,-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,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,-48.00,0.000,2,0.000,0.000,19,2366,1545
$GC,91,-0.96,-146.6,3.1,-1.3,9,159,9.98,0.00,-54.42,0.000,6,0.202,0.000,2461,2366,3099
$GC,230,-0.96,-146.6,11.3,-9.4,33,236,0.00,2.33,0.00,0.000,4,0.000,0.047,2452,3751,3102
$GC,285,-0.96,-146.6,17.4,-11.2,42,292,0.00,2.22,0.00,0.000,6,0.000,0.026,2452,2338,3102
$GC,363,-0.96,-146.6,25.4,-10.4,55,369,0.00,2.20,0.00,0.000,4,0.000,0.033,2453,960,3102
$GC,389,-0.96,-146.6,28.3,-10.9,59,395,0.00,2.25,0.00,0.000,6,0.000,0.033,2445,2355,3101
$GC,606,-0.96,-146.6,51.2,-11.3,95,610,0.00,2.28,0.00,0.000,4,0.000,0.046,2435,3749,3102
$GC,642,-0.96,-146.6,56.1,-11.8,98,647,0.12,2.17,0.00,0.000,6,0.129,0.026,2466,2339,3102
$GC,970,-0.96,-146.6,89.3,-10.5,128,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2339,3102
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1136,-0.28,0.0,106.0,10.6,143,1254,0.68,0.00,114.55,0.747,6,0.109,0.000,2680,2150,2500
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1255,begin climb
$GC,1260,0.96,146.6,111.1,0.0,155,1378,1.23,0.00,112.95,0.705,6,0.076,0.000,3085,2150,1902
$GC,1698,0.96,146.6,82.9,7.7,197,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2150,1900
$GC,2026,0.96,146.6,57.2,7.6,228,2030,0.00,2.33,0.00,0.000,4,0.000,0.042,3085,3555,1899
$GC,2080,0.96,146.6,52.7,8.3,232,2084,0.00,2.20,0.00,0.000,6,0.000,0.026,3095,2158,1899
$GC,2426,0.96,146.6,25.5,7.7,289,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2157,1900
$GC,2643,1.01,180.3,10.4,6.4,326,2677,0.00,2.28,27.48,0.744,4,0.000,0.037,3105,761,1764
$GC,2852,1.28,402.5,3.9,-0.2,362,2995,0.25,2.22,136.12,0.667,6,0.048,0.030,3212,2154,858
$GC,3071,1.54,615.8,2.3,0.2,400,3112,0.15,0.00,37.83,0.660,2,0.058,0.000,3291,2154,561
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,1.9,1.019673
$STATE,3134,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3135,begin surface
$SM_CCo,3163,50.40,0.646,0,0,203,563.21
$SM_GC,2.89,0.00,0.00,50.40,0.000,0.000,0.646,20,2363,203,-8.63,0.37,563.21
$IRIDIUM_FIX,4748.51,-12214.67,141007,080816
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,42.8
$24V_AH,24.0,94.259
$10V_AH,10.7,44.185
$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,21.975,23.025,428.925,50.400,0.000,61.352,62.795,228.888,0.500,0.000,0.000,13.842,595.947,1294.851,476.695,785.374,628.169,33.341,908.573,0.000,806.406,0.000,2.515
$DEVICE_MAMPS,202.488,46.787,747.058,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.380,309.551,693.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19043,411
$CFSIZE,260165632,231030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,054033,4806.088,-12222.297,9,1.2,9,18.3