version: 66.03
glider: 128
mission: 2
dive: 1058
start: 10 17 107 3 47 47
data:
$ID,128
$MISSION,2
$DIVE,1058
$D_SURF,5
$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,20
$T_MISSION,30
$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,250
$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,-95158.406
$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,68
$R_STBD_OVSHOOT,40
$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
$GPS1,034205,4806.340,-12222.792,8,3.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.4
$GPS2,034650,4806.340,-12222.772,12,1.0,12,18.3
$SPEED_LIMITS,0.346,0.407
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.357,-0.195
$KALMAN_X,-23972.4,-634.8,-151.7,24826.2,-11.1
$KALMAN_Y,4499.1,489.2,14.5,-5125.7,-35.1
$MHEAD_RNG_PITCHd_Wd,100.4,1144,-24.5,-20.000
$D_GRID,101
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.66,-244.4,0.0,0.0,0,96,0.00,0.00,-53.25,0.000,2,0.000,0.000,18,2361,1685
$GC,103,-1.66,-244.4,3.0,-2.3,10,160,9.27,2.38,-42.30,0.000,4,0.211,0.058,2230,3749,3501
$GC,335,-1.66,-244.4,55.7,-24.9,48,339,0.00,2.17,0.00,0.000,6,0.000,0.026,2230,2344,3502
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,532,-0.28,0.0,102.9,25.7,65,729,1.52,0.00,189.18,0.716,6,0.134,0.000,2679,2145,2498
$STATE,730,end apogee,CONTROL_FINISHED_OK
$STATE,730,begin climb
$GC,735,1.66,244.4,114.9,0.0,85,939,1.90,2.38,185.25,0.684,4,0.074,0.038,3317,770,1502
$GC,1055,1.66,244.4,70.6,22.6,114,1059,0.00,2.22,0.00,0.000,6,0.000,0.031,3317,2153,1501
$STATE,1377,end climb,SURFACE_DEPTH_REACHED
$STATE,1377,begin surface coast
$FINISH,4.3,1.022676
$STATE,1417,end surface coast,CONTROL_FINISHED_OK
$STATE,1417,begin surface
$SM_CCo,1446,188.77,0.639,0,0,256,550.21
$SM_GC,2.29,0.00,0.00,188.77,0.000,0.000,0.639,20,2368,256,-8.63,0.51,550.21
$IRIDIUM_FIX,4748.51,-12224.57,171007,070705
$TT8_MAMPS,0.026078
$HUMID,1837
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,76.2,43.3
$24V_AH,23.9,102.383
$10V_AH,10.7,47.635
$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,22.475,9.725,374.425,188.775,0.000,23.463,19.945,103.441,0.500,0.000,0.000,14.283,259.523,407.011,555.126,382.507,330.805,33.335,812.851,0.000,386.243,0.000,2.516
$DEVICE_MAMPS,210.925,57.525,715.611,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,123.144,121.683,286.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6514,170
$CFSIZE,260165632,229056512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171007,041557,4806.136,-12222.566,8,1.3,8,18.3