version: 66.03
glider: 128
mission: 2
dive: 1028
start: 10 16 107 0 23 12
data:
$ID,128
$MISSION,2
$DIVE,1028
$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,-94429.258
$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,51
$R_STBD_OVSHOOT,45
$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
$GPS1,001707,4806.312,-12222.480,35,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-67.2
$GPS2,002215,4806.412,-12222.570,9,1.6,9,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.175
$KALMAN_X,-16800.6,-380.0,-165.4,17663.2,-245.3
$KALMAN_Y,-2037.3,503.0,81.9,1457.3,273.6
$MHEAD_RNG_PITCHd_Wd,119.4,1039,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,40,-0.96,-146.6,0.0,0.0,0,96,0.00,0.00,-53.40,0.000,2,0.000,0.000,20,2367,1710
$GC,102,-0.96,-146.6,3.2,-2.4,10,165,9.82,2.38,-46.97,0.000,4,0.196,0.058,2454,3748,3099
$GC,197,-0.96,-146.6,7.6,-7.9,26,203,0.00,2.22,0.00,0.000,6,0.000,0.026,2454,2329,3101
$GC,275,-0.96,-146.6,16.4,-12.0,39,281,0.00,2.17,0.00,0.000,4,0.000,0.033,2454,969,3101
$GC,380,-0.96,-146.6,29.1,-11.8,57,387,0.00,2.25,0.00,0.000,6,0.000,0.035,2446,2340,3102
$GC,601,-0.96,-146.6,53.8,-11.1,92,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2340,3101
$GC,930,-0.96,-146.6,90.9,-11.4,123,934,0.00,2.33,0.00,0.000,4,0.000,0.048,2436,3755,3102
$GC,973,-0.96,-146.6,96.0,-11.4,126,977,0.12,2.17,0.00,0.000,6,0.129,0.026,2468,2345,3102
$STATE,1062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1062,begin apogee
$GC,1074,-0.28,0.0,106.0,10.2,134,1193,0.68,0.00,114.68,0.736,6,0.107,0.000,2683,2147,2500
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1199,0.96,146.6,111.1,0.0,146,1316,1.23,0.00,112.45,0.693,6,0.074,0.000,3089,2147,1901
$GC,1635,0.96,146.6,81.5,7.9,187,1639,0.00,2.35,0.00,0.000,4,0.000,0.043,3089,3561,1900
$GC,1684,0.96,146.6,77.1,9.6,191,1688,0.00,2.22,0.00,0.000,6,0.000,0.026,3099,2153,1900
$GC,2018,0.96,146.6,49.8,8.5,221,2024,0.00,2.33,0.00,0.000,4,0.000,0.043,3099,3560,1900
$GC,2084,0.96,146.6,43.4,8.8,232,2090,0.00,2.22,0.00,0.000,6,0.000,0.027,3110,2150,1900
$GC,2299,0.96,146.6,25.8,7.9,269,2306,0.00,2.28,0.00,0.000,4,0.000,0.038,3120,755,1899
$GC,2349,0.96,146.6,21.8,7.9,277,2355,0.00,2.25,0.00,0.000,6,0.000,0.031,3120,2165,1899
$GC,2563,0.96,146.6,5.7,7.8,314,2569,0.00,2.30,0.00,0.000,4,0.000,0.038,3128,750,1899
$GC,2653,1.32,438.9,3.7,-2.6,329,2813,0.22,2.22,153.88,0.658,2,0.050,0.030,3224,2156,814
$STATE,2819,end climb,SURFACE_DEPTH_REACHED
$STATE,2819,begin surface coast
$FINISH,1.5,1.003721
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2858,79.50,0.632,0,0,257,550.21
$SM_GC,2.19,0.00,0.00,79.50,0.000,0.000,0.632,14,2355,257,-8.65,0.11,550.21
$IRIDIUM_FIX,4748.51,-12226.29,161007,030356
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,49.6
$24V_AH,23.7,98.977
$10V_AH,10.7,46.310
$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,21.425,32.250,381.000,79.500,0.000,24.052,33.890,110.896,0.500,0.000,0.000,11.466,535.170,1109.085,463.867,708.645,439.632,33.341,873.354,0.000,727.457,0.000,2.522
$DEVICE_MAMPS,195.585,57.525,736.320,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.760,269.054,607.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19076,360
$CFSIZE,260165632,229834752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,011308,4806.285,-12222.483,13,1.7,13,18.3