version: 66.03
glider: 128
mission: 2
dive: 1021
start: 10 15 107 16 54 59
data:
$ID,128
$MISSION,2
$DIVE,1021
$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,-94316.555
$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,62
$R_STBD_OVSHOOT,41
$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
$GPS1,164522,4806.668,-12222.901,13,2.9,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-66.3
$GPS2,165357,4806.754,-12222.957,12,1.8,12,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.183
$KALMAN_X,-14837.5,13.5,-71.7,14735.0,-131.3
$KALMAN_Y,-4095.9,-79.3,231.4,4583.4,172.7
$MHEAD_RNG_PITCHd_Wd,122.5,1830,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-53.38,0.000,2,0.000,0.000,17,2330,1713
$GC,96,-0.96,-146.6,3.2,-1.9,10,164,9.85,2.38,-50.17,0.000,4,0.196,0.056,2456,3756,3098
$GC,185,-0.96,-146.6,6.6,-7.5,25,192,0.00,2.22,0.00,0.000,6,0.000,0.025,2456,2325,3100
$GC,263,-0.96,-146.6,14.1,-9.8,38,270,0.00,2.17,0.00,0.000,4,0.000,0.033,2456,962,3100
$GC,354,-0.96,-146.6,23.4,-10.3,53,360,0.00,2.25,0.00,0.000,6,0.000,0.033,2448,2356,3100
$GC,569,-0.96,-146.6,46.0,-10.1,90,575,0.00,2.30,0.00,0.000,4,0.000,0.047,2438,3753,3101
$GC,608,-0.96,-146.6,50.1,-11.0,96,613,0.12,2.17,0.00,0.000,6,0.127,0.025,2469,2344,3101
$GC,936,-0.96,-146.6,81.6,-9.7,126,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2342,3101
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1164,-0.28,0.0,103.7,10.2,147,1282,0.68,0.00,114.28,0.736,6,0.107,0.000,2683,2148,2500
$STATE,1282,end apogee,CONTROL_FINISHED_OK
$STATE,1282,begin climb
$GC,1288,0.96,146.6,108.6,0.0,159,1405,1.20,0.00,112.57,0.693,6,0.074,0.000,3085,2147,1901
$GC,1723,0.96,146.6,79.4,7.9,200,1727,0.00,2.33,0.00,0.000,4,0.000,0.042,3085,3555,1899
$GC,1776,0.96,146.6,74.9,8.6,204,1782,0.00,2.20,0.00,0.000,6,0.000,0.027,3096,2157,1899
$GC,2110,0.96,146.6,46.9,8.5,238,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2157,1898
$GC,2326,0.96,146.6,29.5,8.0,275,2332,0.00,2.30,0.00,0.000,4,0.000,0.042,3095,3557,1899
$GC,2375,0.96,146.6,24.9,8.6,283,2382,0.00,2.25,0.00,0.000,6,0.000,0.027,3106,2144,1899
$GC,2591,0.99,170.9,8.6,6.7,320,2619,0.00,2.30,19.92,0.771,4,0.000,0.038,3115,760,1802
$GC,2763,1.33,443.9,3.7,-1.9,349,2913,0.28,2.22,143.65,0.657,2,0.047,0.029,3229,2158,729
$STATE,2919,end climb,SURFACE_DEPTH_REACHED
$STATE,2919,begin surface coast
$FINISH,1.5,1.016900
$STATE,2958,end surface coast,CONTROL_FINISHED_OK
$STATE,2958,begin surface
$SM_CCo,2986,64.30,0.646,0,0,256,550.21
$SM_GC,2.30,0.00,0.00,64.30,0.000,0.000,0.646,20,2356,256,-8.63,0.17,550.21
$IRIDIUM_FIX,4748.51,-12221.84,151007,202047
$TT8_MAMPS,0.026078
$HUMID,1862
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.4,46.6
$24V_AH,23.9,98.189
$10V_AH,10.7,45.959
$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,21.450,27.650,390.425,64.300,0.000,55.179,28.425,224.175,0.250,0.000,0.000,13.847,560.730,1224.695,465.462,742.024,587.252,33.350,880.667,0.000,757.350,0.000,2.518
$DEVICE_MAMPS,196.352,55.991,770.835,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.009,285.487,646.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19058,383
$CFSIZE,260165632,230035456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,174706,4806.510,-12222.757,11,2.2,30,18.3