version: 66.03
glider: 128
mission: 2
dive: 1030
start: 10 16 107 2 25 54
data:
$ID,128
$MISSION,2
$DIVE,1030
$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,-94459.195
$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,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
$GPS1,021227,4806.276,-12222.383,15,1.4,15,18.3
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.6
$GPS2,022457,4806.492,-12222.526,11,1.6,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.193
$KALMAN_X,-17484.2,-489.2,-179.4,18525.3,-168.7
$KALMAN_Y,-1183.8,640.1,124.2,566.8,244.6
$MHEAD_RNG_PITCHd_Wd,126.5,1120,-14.1,-7.547
$D_GRID,107
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-58.58,0.000,2,0.000,0.000,22,2361,1816
$GC,102,-0.96,-146.6,3.2,-2.0,11,159,9.90,2.35,-38.40,0.000,4,0.199,0.059,2452,3741,3100
$GC,169,-0.96,-146.6,8.0,-7.9,22,175,0.00,2.22,0.00,0.000,6,0.000,0.026,2452,2313,3101
$GC,247,-0.96,-146.6,16.2,-10.9,35,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2312,3102
$GC,324,-0.96,-146.6,24.9,-11.2,48,330,0.00,2.15,0.00,0.000,4,0.000,0.034,2452,969,3102
$GC,379,-0.96,-146.6,30.9,-11.3,57,385,0.00,2.22,0.00,0.000,6,0.000,0.034,2444,2345,3102
$GC,600,-0.96,-146.6,54.7,-10.9,91,603,0.00,2.30,0.00,0.000,4,0.000,0.047,2433,3753,3102
$GC,641,-0.96,-146.6,60.2,-11.7,94,648,0.12,2.17,0.00,0.000,6,0.128,0.026,2465,2341,3102
$GC,968,-0.96,-146.6,93.7,-10.0,125,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2340,3102
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1111,-0.28,0.0,107.2,9.7,138,1229,0.70,0.00,114.68,0.738,6,0.107,0.000,2686,2150,2500
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1236,0.96,146.6,112.5,0.0,150,1353,1.20,0.00,112.62,0.691,6,0.074,0.000,3084,2150,1901
$GC,1671,0.97,147.7,84.3,7.5,191,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2150,1900
$GC,2000,0.97,154.0,60.3,7.3,222,2012,0.00,2.42,7.43,0.738,4,0.000,0.043,3084,3561,1871
$GC,2061,0.97,154.0,55.3,8.2,227,2065,0.00,2.22,0.00,0.000,6,0.000,0.026,3094,2157,1871
$GC,2406,0.97,154.0,27.7,7.7,281,2412,0.00,2.33,0.00,0.000,4,0.000,0.043,3094,3566,1871
$GC,2446,0.97,154.0,24.6,8.0,287,2452,0.00,2.25,0.00,0.000,6,0.000,0.027,3105,2140,1871
$GC,2661,1.03,196.9,9.8,6.1,324,2700,0.00,0.00,34.30,0.724,6,0.000,0.000,3105,2140,1695
$GC,2772,1.13,283.0,4.3,4.6,343,2839,0.12,2.45,59.65,0.663,4,0.064,0.042,3163,3565,1345
$GC,2894,1.38,485.9,3.4,0.5,364,2995,0.15,2.28,94.72,0.640,2,0.057,0.026,3239,2142,672
$STATE,2996,end climb,SURFACE_DEPTH_REACHED
$STATE,2996,begin surface coast
$FINISH,1.4,1.010506
$STATE,3017,end surface coast,CONTROL_FINISHED_OK
$STATE,3017,begin surface
$SM_CCo,3045,60.75,0.633,0,0,256,550.21
$SM_GC,2.27,0.00,0.00,60.75,0.000,0.000,0.633,21,2359,256,-8.62,0.25,550.21
$IRIDIUM_FIX,4748.51,-12221.84,161007,060623
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,82.9,43.4
$24V_AH,23.9,99.198
$10V_AH,10.7,46.413
$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,21.600,27.950,423.400,60.750,0.000,75.359,62.306,331.828,1.250,0.000,0.000,12.526,563.909,1305.620,481.243,750.546,765.086,33.342,911.837,0.000,767.447,0.000,6.935
$DEVICE_MAMPS,199.420,59.059,737.854,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.070,289.338,649.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19141,385
$CFSIZE,260165632,229769216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,031901,4806.287,-12222.373,35,1.2,35,18.3