version: 66.03
glider: 128
mission: 2
dive: 1019
start: 10 15 107 14 50 57
data:
$ID,128
$MISSION,2
$DIVE,1019
$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,550
$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,-94284.141
$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,61
$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
$GPS1,143757,4806.958,-12223.048,10,1.5,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-69.5
$GPS2,144956,4807.064,-12223.080,14,1.5,32,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.216
$KALMAN_X,-14535.9,66.3,-21.6,14177.7,-50.7
$KALMAN_Y,-4249.7,-245.8,-20.9,5728.7,278.5
$MHEAD_RNG_PITCHd_Wd,137.8,2381,-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,35,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-42.90,0.000,2,0.000,0.000,17,2370,1402
$GC,86,-0.96,-146.6,3.1,-1.6,8,160,9.95,2.30,-55.88,0.000,4,0.201,0.045,2464,955,3098
$GC,197,-0.96,-146.6,9.2,-9.5,27,204,0.00,2.25,0.00,0.000,6,0.000,0.034,2460,2345,3099
$GC,275,-0.96,-146.6,16.9,-10.1,40,282,0.00,2.33,0.00,0.000,4,0.000,0.046,2450,3753,3100
$GC,331,-0.96,-146.6,22.8,-10.3,49,337,0.00,2.20,0.00,0.000,6,0.000,0.026,2450,2330,3100
$GC,546,-0.96,-146.6,45.0,-10.0,86,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2330,3101
$GC,754,-0.96,-146.6,66.8,-10.7,109,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2330,3101
$GC,1082,-0.96,-146.6,101.7,-10.9,140,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2330,3101
$STATE,1096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1108,-0.28,0.0,103.9,10.5,142,1226,0.75,0.00,114.30,0.733,6,0.110,0.000,2685,2147,2500
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1233,0.96,146.6,108.8,0.0,154,1352,1.20,2.33,112.07,0.695,4,0.074,0.038,3095,772,1901
$GC,1381,0.98,156.1,102.9,7.2,167,1395,0.00,2.25,9.20,0.683,6,0.000,0.031,3095,2150,1863
$GC,1724,0.98,156.1,71.4,9.2,199,1728,0.00,2.33,0.00,0.000,4,0.000,0.043,3095,3560,1861
$GC,1801,0.98,156.1,63.7,10.1,205,1805,0.00,2.22,0.00,0.000,6,0.000,0.026,3106,2156,1861
$GC,2142,0.98,156.1,32.5,8.8,252,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2155,1862
$GC,2358,0.98,156.1,15.2,7.6,289,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2155,1861
$GC,2435,0.98,161.2,9.0,7.4,302,2443,0.00,0.00,5.40,0.647,6,0.000,0.000,3105,2155,1843
$GC,2514,1.09,251.4,4.5,4.4,315,2581,0.00,2.33,60.12,0.684,4,0.000,0.037,3106,755,1473
$GC,2695,1.37,473.7,3.8,-0.2,346,2703,0.32,2.25,2.80,0.358,2,0.042,0.029,3243,2150,1455
$STATE,2704,end climb,NO_VERTICAL_VELOCITY
$STATE,2704,begin surface
$SM_CCo,2710,180.23,0.638,0,0,204,563.21
$SM_GC,2.54,9.35,0.00,0.00,0.043,0.000,0.000,19,2359,195,-8.57,0.25,565.42
$IRIDIUM_FIX,4748.51,-12221.84,151007,181813
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.0,43.7
$24V_AH,23.8,97.976
$10V_AH,10.7,45.855
$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,21.575,23.325,303.900,180.225,0.000,89.338,127.659,216.113,0.250,0.000,0.000,33.675,535.815,1271.283,513.995,708.628,708.778,33.347,897.878,0.000,705.928,0.000,2.516
$DEVICE_MAMPS,200.954,46.020,733.252,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.672,263.321,585.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,347
$CFSIZE,260165632,230096896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,154231,4806.828,-12223.005,39,1.9,45,18.3