version: 66.03
glider: 128
mission: 2
dive: 857
start: 10 9 107 4 11 56
data:
$ID,128
$MISSION,2
$DIVE,857
$D_SURF,2
$D_FLARE,2
$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,26
$T_MISSION,38
$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,20
$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,530
$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,-86707.555
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$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
$GPS1,040607,4805.849,-12221.984,37,1.1,42,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-68.6
$GPS2,041038,4805.815,-12221.929,10,1.1,15,18.3
$SPEED_LIMITS,0.423,0.433
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,0.384
$KALMAN_X,941.4,63.6,7.0,3501.7,65.3
$KALMAN_Y,-2778.9,-569.6,-143.1,-4362.9,8.7
$MHEAD_RNG_PITCHd_Wd,316.8,354,-17.7,-15.385
$D_GRID,108
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.16,-146.6,0.0,0.0,0,39,0.00,0.00,-5.12,0.000,2,0.000,0.000,25,2370,322
$GC,44,-1.16,-146.6,2.5,-0.0,1,160,9.40,2.30,-99.68,0.000,4,0.201,0.045,2358,953,2998
$GC,190,-1.16,-146.6,7.5,-9.8,26,196,0.00,2.25,0.00,0.000,6,0.000,0.034,2350,2342,2999
$GC,267,-1.16,-146.6,16.1,-11.8,39,274,0.00,2.35,0.00,0.000,4,0.000,0.047,2340,3747,3000
$GC,424,-1.16,-146.6,38.0,-13.8,66,430,0.00,2.20,0.00,0.000,6,0.000,0.026,2339,2325,3000
$GC,630,-1.16,-146.6,67.0,-14.0,92,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2325,3000
$STATE,910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,910,begin apogee
$GC,920,-0.28,0.0,109.5,14.5,119,1038,1.00,0.00,113.18,0.743,6,0.127,0.000,2640,2208,2399
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1044,1.16,146.6,115.7,0.0,131,1167,1.45,2.47,112.60,0.701,4,0.085,0.044,3107,3607,1801
$GC,1223,1.33,281.7,103.3,10.9,147,1335,0.15,2.25,103.00,0.696,6,0.061,0.027,3178,2208,1251
$GC,1659,1.37,313.3,38.1,14.3,195,1693,0.00,2.33,25.60,0.714,4,0.000,0.037,3188,816,1121
$GC,1730,1.38,325.6,27.5,15.0,207,1748,0.00,2.25,11.15,0.653,6,0.000,0.032,3188,2199,1071
$GC,1955,1.97,801.0,2.4,-0.3,246,2066,0.50,0.00,106.85,0.657,2,0.050,0.000,3380,2199,318
$STATE,2067,end climb,NO_VERTICAL_VELOCITY
$STATE,2067,begin surface
$SM_CCo,2073,17.62,0.592,0,0,204,538.68
$SM_GC,2.56,9.80,0.00,0.00,0.052,0.000,0.000,24,2357,192,-8.44,0.20,541.62
$IRIDIUM_FIX,4745.30,-12231.73,091007,070737
$TT8_MAMPS,0.026078
$HUMID,1896
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.8,45.7
$24V_AH,23.9,79.706
$10V_AH,10.7,38.283
$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,22.300,18.750,472.375,17.625,0.000,24.281,12.019,105.923,1.000,0.000,0.000,16.697,391.413,861.747,471.982,537.655,339.741,33.326,823.079,0.000,544.401,0.000,5.477
$DEVICE_MAMPS,200.954,51.389,743.223,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,193.783,192.770,448.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12883,266
$CFSIZE,260165632,234500096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,045123,4805.959,-12222.022,8,2.2,27,18.3