version: 66.03
glider: 128
mission: 2
dive: 1026
start: 10 15 107 22 27 52
data:
$ID,128
$MISSION,2
$DIVE,1026
$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,-94403.062
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,220725,4806.235,-12222.318,39,1.0,56,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-63.1
$GPS2,222651,4806.484,-12222.577,12,1.1,12,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,-0.180
$KALMAN_X,-16161.6,-257.5,-121.5,16855.1,-193.7
$KALMAN_Y,-2690.7,337.0,76.9,2406.9,210.4
$MHEAD_RNG_PITCHd_Wd,121.4,1146,-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,35,-0.96,-146.6,0.0,0.0,0,107,0.00,0.00,-69.75,0.000,2,0.000,0.000,21,2345,2004
$GC,113,-0.96,-146.6,3.3,-2.2,13,170,9.88,0.00,-39.75,0.000,6,0.199,0.000,2464,2344,3098
$GC,241,-0.96,-146.6,10.8,-8.9,35,248,0.00,2.28,0.00,0.000,4,0.000,0.034,2464,948,3100
$GC,279,-0.96,-146.6,14.6,-9.8,41,286,0.00,2.28,0.00,0.000,6,0.000,0.033,2462,2352,3100
$GC,357,-0.96,-146.6,22.3,-9.8,54,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2353,3100
$GC,569,-0.96,-146.6,43.7,-10.1,91,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2353,3100
$GC,773,-0.96,-146.6,64.8,-10.3,115,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2353,3100
$GC,1101,-0.96,-146.6,99.0,-10.5,146,1105,0.00,2.30,0.00,0.000,4,0.000,0.048,2456,3761,3100
$GC,1138,-0.96,-146.6,103.0,-11.6,149,1142,0.00,2.22,0.00,0.000,6,0.000,0.026,2456,2317,3100
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1165,-0.28,0.0,105.2,10.9,150,1283,0.73,0.00,114.50,0.742,6,0.108,0.000,2683,2147,2500
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1289,0.96,146.6,110.4,0.0,162,1409,1.20,0.00,112.88,0.694,6,0.074,0.000,3083,2147,1901
$GC,1730,0.96,146.6,81.4,7.7,204,1734,0.00,2.33,0.00,0.000,4,0.000,0.042,3083,3558,1900
$GC,1800,0.96,146.6,75.4,8.8,210,1805,0.00,2.20,0.00,0.000,6,0.000,0.026,3094,2164,1900
$GC,2134,0.96,146.6,48.1,8.4,241,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2161,1900
$GC,2351,0.96,146.6,30.9,7.8,278,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2162,1899
$GC,2568,0.97,151.1,14.6,7.4,315,2580,0.00,2.30,5.10,0.634,4,0.000,0.038,3103,757,1884
$GC,2612,0.99,164.6,11.2,7.1,322,2631,0.00,2.25,12.62,0.786,6,0.000,0.031,3103,2151,1827
$GC,2703,0.99,171.1,4.6,7.3,337,2710,0.00,0.00,5.55,0.657,6,0.000,0.000,3103,2151,1802
$STATE,2731,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$FINISH,1.5,1.011808
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2788,199.10,0.640,0,0,256,550.21
$SM_GC,2.34,0.00,0.00,199.10,0.000,0.000,0.640,16,2361,256,-8.64,0.31,550.21
$IRIDIUM_FIX,4748.51,-12217.40,161007,020209
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,50.2
$24V_AH,24.0,98.776
$10V_AH,10.7,46.217
$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,20.575,18.675,250.650,199.100,0.000,88.348,53.634,753.140,0.750,0.000,0.000,13.782,543.902,1267.970,511.086,680.097,1165.033,33.345,874.527,0.000,695.954,0.000,2.524
$DEVICE_MAMPS,198.653,47.554,786.175,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.284,264.539,585.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15959,347
$CFSIZE,260165632,229892096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,231832,4806.307,-12222.454,7,1.4,7,18.3