version: 66.03
glider: 128
mission: 2
dive: 909
start: 10 10 107 18 25 31
data:
$ID,128
$MISSION,2
$DIVE,909
$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,30
$T_MISSION,40
$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,514.1488
$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,-88042.695
$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,59
$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,2200
$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
$GPS1,181527,4806.246,-12222.323,12,1.5,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.7
$GPS2,182435,4806.291,-12222.369,11,4.5,30,18.3
$SPEED_LIMITS,0.231,0.284
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.196,-0.206
$KALMAN_X,-4387.2,-654.8,-163.7,5772.0,5.6
$KALMAN_Y,5222.4,741.4,108.8,-6295.1,-46.6
$MHEAD_RNG_PITCHd_Wd,118.1,706,-23.0,-13.333
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-1.46,-146.6,0.0,0.0,0,88,0.00,0.00,-53.10,0.000,2,0.000,0.000,23,2355,1638
$GC,94,-1.46,-146.6,3.0,-1.4,10,140,9.48,0.00,-31.35,0.000,6,0.212,0.000,2306,2355,2800
$GC,210,-1.46,-146.6,19.2,-15.1,30,217,0.00,2.28,0.00,0.000,4,0.000,0.033,2307,963,2801
$GC,277,-1.46,-146.6,28.0,-12.7,41,283,0.00,2.25,0.00,0.000,6,0.000,0.034,2298,2354,2800
$GC,498,-1.46,-146.6,56.6,-14.3,75,502,0.00,2.25,0.00,0.000,4,0.000,0.032,2299,948,2801
$GC,589,-1.46,-146.6,71.0,-15.0,82,595,0.00,2.25,0.00,0.000,6,0.000,0.034,2289,2349,2801
$STATE,826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,827,begin apogee
$GC,838,-0.28,0.0,108.6,15.5,105,955,1.33,0.00,113.57,0.731,6,0.133,0.000,2680,2136,2200
$STATE,957,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,961,1.46,146.6,113.7,0.0,117,1082,1.70,2.45,112.30,0.686,4,0.078,0.042,3238,3552,1601
$GC,1112,1.46,146.6,97.9,17.1,130,1119,0.00,2.28,0.00,0.000,6,0.000,0.027,3249,2156,1600
$GC,1443,1.46,146.6,43.7,15.5,164,1449,0.00,2.28,0.00,0.000,4,0.000,0.038,3259,746,1598
$GC,1509,1.46,146.6,33.6,16.1,175,1516,0.00,2.28,0.00,0.000,6,0.000,0.031,3259,2144,1599
$GC,1724,1.65,303.4,7.0,3.8,212,1851,0.15,2.40,118.45,0.663,4,0.064,0.043,3331,3557,960
$GC,1896,1.87,485.5,2.3,2.3,242,1943,0.12,2.28,40.62,0.632,2,0.065,0.027,3395,2138,647
$STATE,1944,end climb,SURFACE_DEPTH_REACHED
$STATE,1944,begin surface coast
$FINISH,1.5,1.020361
$STATE,2097,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2097,begin surface
$SM_CCo,2124,63.08,0.652,0,0,204,489.62
$SM_CCo,2193,0.00,0.000,0,0,202,489.86
$SM_CCo,2199,0.00,0.000,0,0,201,490.35
$SM_GC,2.35,0.00,0.00,0.00,0.000,0.000,0.000,13,2366,201,-8.65,0.42,490.35
$IRIDIUM_FIX,4748.51,-12229.01,101007,222242
$TT8_MAMPS,0.026078
$HUMID,1859
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,43.5
$24V_AH,24.0,85.338
$10V_AH,10.7,40.157
$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,22.650,23.650,384.950,63.075,0.000,49.452,56.121,224.264,1.000,0.000,0.000,32.584,410.563,773.929,431.530,582.256,561.212,33.327,777.521,0.000,573.214,0.000,5.475
$DEVICE_MAMPS,211.692,42.952,730.951,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,198.672,203.960,467.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12826,277
$CFSIZE,260165632,233242624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,190303,4806.154,-12222.242,9,1.0,9,18.3