version: 66.03
glider: 128
mission: 2
dive: 1029
start: 10 16 107 1 19 23
data:
$ID,128
$MISSION,2
$DIVE,1029
$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,-94446.039
$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,54
$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
$GPS1,011308,4806.285,-12222.483,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.0
$GPS2,011826,4806.375,-12222.577,14,1.6,14,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.168
$KALMAN_X,-17148.6,-442.5,-186.2,18087.2,-208.8
$KALMAN_Y,-1727.1,572.6,106.5,983.2,218.5
$MHEAD_RNG_PITCHd_Wd,116.9,996,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,40,-0.96,-146.6,0.0,0.0,0,101,0.00,0.00,-58.78,0.000,2,0.000,0.000,14,2354,1840
$GC,107,-0.96,-146.6,3.3,-2.0,11,170,9.90,2.35,-45.80,0.000,4,0.198,0.058,2454,3756,3098
$GC,191,-0.96,-146.6,5.9,-5.4,25,197,0.00,2.22,0.00,0.000,6,0.000,0.026,2453,2320,3099
$GC,269,-0.96,-146.6,12.9,-10.1,38,275,0.00,2.15,0.00,0.000,4,0.000,0.033,2454,975,3100
$GC,476,-0.96,-146.6,34.0,-10.4,73,483,0.00,2.22,0.00,0.000,6,0.000,0.035,2445,2350,3100
$GC,696,-0.96,-146.6,56.6,-10.3,105,699,0.00,2.30,0.00,0.000,4,0.000,0.048,2434,3752,3100
$GC,737,-0.96,-146.6,61.8,-10.8,108,744,0.12,2.15,0.00,0.000,6,0.128,0.026,2466,2354,3100
$GC,1065,-0.96,-146.6,94.1,-10.2,139,1069,0.00,2.33,0.00,0.000,4,0.000,0.047,2457,3752,3100
$GC,1100,-0.96,-146.6,98.1,-11.3,141,1107,0.00,2.20,0.00,0.000,6,0.000,0.026,2457,2341,3100
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1158,-0.28,0.0,103.6,10.9,146,1276,0.73,0.00,114.45,0.734,6,0.110,0.000,2682,2156,2500
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1283,0.96,146.6,108.7,0.0,158,1404,1.23,2.33,112.80,0.690,4,0.075,0.037,3095,768,1901
$GC,1435,0.98,163.4,103.1,7.0,172,1457,0.00,2.28,14.85,0.690,6,0.000,0.031,3095,2159,1832
$GC,1778,0.98,163.4,75.2,7.9,204,1782,0.00,2.30,0.00,0.000,4,0.000,0.044,3096,3554,1831
$GC,1826,0.98,163.4,71.3,8.1,208,1830,0.00,2.20,0.00,0.000,6,0.000,0.026,3106,2165,1831
$GC,2159,1.01,182.0,46.8,6.9,241,2182,0.00,2.38,15.88,0.795,4,0.000,0.044,3106,3547,1757
$GC,2220,1.01,182.0,42.2,7.7,251,2226,0.00,2.22,0.00,0.000,6,0.000,0.027,3116,2150,1756
$GC,2434,1.01,182.0,26.2,7.6,288,2441,0.00,2.33,0.00,0.000,4,0.000,0.044,3115,3552,1757
$GC,2467,1.01,182.0,23.7,8.0,293,2474,0.00,2.22,0.00,0.000,6,0.000,0.027,3126,2147,1756
$GC,2682,1.01,182.0,6.1,8.5,330,2688,0.00,2.25,0.00,0.000,4,0.000,0.038,3136,754,1756
$GC,2743,1.29,408.9,3.3,-0.3,340,2893,0.12,2.25,140.57,0.659,6,0.045,0.031,3206,2150,829
$STATE,2902,end climb,SURFACE_DEPTH_REACHED
$STATE,2902,begin surface coast
$FINISH,1.5,1.009927
$STATE,3016,end surface coast,CONTROL_FINISHED_OK
$STATE,3016,begin surface
$SM_CCo,3044,79.32,0.650,0,0,255,550.21
$SM_GC,2.31,0.00,0.00,79.32,0.000,0.000,0.650,22,2360,255,-8.62,0.28,550.21
$IRIDIUM_FIX,4748.51,-12217.40,161007,040426
$TT8_MAMPS,0.026845
$HUMID,1873
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,45.3
$24V_AH,23.8,99.079
$10V_AH,10.7,46.360
$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,21.250,41.225,398.550,79.325,0.000,25.962,35.505,113.550,1.000,0.000,0.000,16.154,579.868,1138.420,488.134,773.977,472.277,33.340,929.007,0.000,785.722,0.000,7.076
$DEVICE_MAMPS,197.886,57.525,794.612,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.901,288.976,654.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19111,388
$CFSIZE,260165632,229801984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,021227,4806.276,-12222.383,15,1.4,15,18.3