version: 66.03
glider: 128
mission: 2
dive: 987
start: 10 14 107 5 50 3
data:
$ID,128
$MISSION,2
$DIVE,987
$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,-92722.141
$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,55
$R_STBD_OVSHOOT,42
$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
$GPS1,054033,4806.088,-12222.297,9,1.2,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-68.7
$GPS2,054903,4806.096,-12222.340,14,1.2,14,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.043
$KALMAN_X,-12829.4,-118.2,-51.1,13600.5,-76.9
$KALMAN_Y,-1738.2,-42.9,35.0,1170.2,-58.3
$MHEAD_RNG_PITCHd_Wd,85.6,456,-19.7,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.19,-79.3,0.0,0.0,0,95,0.00,0.00,-58.58,0.000,2,0.000,0.000,20,2363,1792
$GC,102,-1.28,-146.6,3.1,-1.3,11,164,9.55,2.30,-45.97,0.000,4,0.202,0.058,2356,3751,3099
$GC,230,-1.28,-146.6,14.1,-14.3,33,236,0.00,2.22,0.00,0.000,6,0.000,0.026,2356,2319,3101
$GC,307,-1.28,-146.6,25.0,-14.3,46,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2319,3101
$GC,518,-1.28,-146.6,55.5,-15.0,80,521,0.00,2.15,0.00,0.000,4,0.000,0.033,2356,968,3101
$GC,575,-1.28,-146.6,64.7,-15.8,84,582,0.00,2.22,0.00,0.000,6,0.000,0.034,2347,2351,3101
$STATE,845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,845,begin apogee
$GC,856,-0.28,0.0,108.5,16.0,110,975,1.10,0.00,114.25,0.744,6,0.122,0.000,2681,2146,2500
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,981,1.28,146.6,114.9,0.0,122,1099,1.52,0.00,112.93,0.706,6,0.073,0.000,3186,2146,1902
$GC,1419,1.28,146.6,75.0,11.2,164,1423,0.00,2.22,0.00,0.000,4,0.000,0.037,3196,765,1900
$GC,1459,1.28,146.6,70.2,11.4,167,1466,0.00,2.22,0.00,0.000,6,0.000,0.031,3196,2155,1900
$GC,1798,1.28,146.6,32.6,10.8,211,1804,0.00,2.25,0.00,0.000,4,0.000,0.037,3205,765,1900
$GC,1837,1.28,146.6,28.5,10.8,217,1843,0.00,2.22,0.00,0.000,6,0.000,0.031,3205,2157,1899
$GC,2052,1.28,146.6,5.8,9.7,254,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2157,1900
$GC,2130,1.45,287.0,3.7,-1.4,267,2220,0.12,2.42,83.65,0.685,4,0.068,0.043,3261,3556,1328
$GC,2293,1.60,406.8,2.8,-0.1,295,2361,0.00,2.25,61.53,0.661,6,0.000,0.026,3271,2150,840
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,1.8,1.018572
$STATE,2509,end surface coast,CONTROL_FINISHED_OK
$STATE,2509,begin surface
$SM_CCo,2537,85.45,0.660,0,0,204,563.21
$SM_GC,2.51,0.00,0.00,85.45,0.000,0.000,0.660,15,2368,204,-8.64,0.48,563.21
$IRIDIUM_FIX,4745.30,-12220.12,141007,090957
$TT8_MAMPS,0.026078
$HUMID,1870
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,82.7,999.0
$24V_AH,23.9,94.365
$10V_AH,10.7,44.231
$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,21.775,23.125,372.350,85.450,0.000,57.872,24.900,219.255,2.000,0.000,0.000,19.952,490.672,972.694,476.374,650.639,555.692,33.336,843.776,0.000,660.450,0.000,15.678
$DEVICE_MAMPS,201.721,57.525,743.990,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.364,248.851,562.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,333
$CFSIZE,260165632,231010304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,063527,4805.957,-12221.964,36,2.9,55,18.3