version: 66.03
glider: 128
mission: 2
dive: 921
start: 10 11 107 6 18 21
data:
$ID,128
$MISSION,2
$DIVE,921
$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,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,-88365.422
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2790
$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,50
$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
$GPS1,060456,4807.022,-12223.109,58,1.2,59,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-70.1
$GPS2,061720,4807.067,-12223.001,18,1.1,18,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.176
$KALMAN_X,-7119.7,29.5,29.8,6843.1,-71.3
$KALMAN_Y,6796.1,-281.6,-196.1,-5099.7,-101.3
$MHEAD_RNG_PITCHd_Wd,119.6,2332,-14.1,-7.547
$D_GRID,105
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.96,-146.6,0.0,0.0,0,56,0.00,0.00,-21.20,0.000,2,0.000,0.000,19,2353,1008
$GC,62,-0.96,-146.6,3.0,-2.4,4,136,10.10,2.33,-56.30,0.000,4,0.206,0.059,2467,3750,3099
$GC,422,-0.96,-146.6,38.5,-9.9,67,429,0.00,2.22,0.00,0.000,6,0.000,0.027,2468,2317,3101
$GC,634,-0.96,-146.6,60.0,-10.3,96,638,0.00,2.38,0.00,0.000,4,0.000,0.046,2457,3749,3101
$GC,677,-0.96,-146.6,64.7,-11.0,99,681,0.00,2.17,0.00,0.000,6,0.000,0.026,2457,2340,3101
$GC,1004,-0.96,-146.6,100.0,-10.7,129,1009,0.00,2.35,0.00,0.000,4,0.000,0.046,2447,3756,3101
$GC,1047,-0.96,-146.6,104.8,-11.0,132,1051,0.00,2.17,0.00,0.000,1,0.000,0.026,2447,2344,3101
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1063,-0.28,0.0,105.8,11.3,132,1181,0.80,0.00,113.65,0.737,6,0.113,0.000,2696,2149,2499
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1187,0.96,146.6,110.9,0.0,144,1307,1.20,2.33,111.85,0.686,4,0.074,0.037,3100,773,1901
$GC,1357,0.96,146.6,103.6,7.7,160,1361,0.00,2.25,0.00,0.000,6,0.000,0.030,3100,2149,1900
$GC,1689,0.96,146.6,76.8,7.8,190,1693,0.00,2.30,0.00,0.000,4,0.000,0.044,3100,3550,1900
$GC,1804,0.96,146.6,65.8,9.7,199,1810,0.00,2.20,0.00,0.000,6,0.000,0.026,3110,2150,1900
$GC,2141,0.98,159.8,39.6,7.1,242,2159,0.00,2.33,12.20,0.812,4,0.000,0.042,3110,3554,1847
$GC,2224,0.98,159.8,32.7,8.8,256,2231,0.00,2.22,0.00,0.000,6,0.000,0.027,3120,2147,1847
$GC,2438,0.98,159.8,15.5,8.1,293,2445,0.00,2.22,0.00,0.000,4,0.000,0.038,3128,761,1846
$STATE,2715,end climb,NO_VERTICAL_VELOCITY
$STATE,2715,begin surface
$SM_CCo,2721,310.15,0.640,0,0,204,563.21
$SM_GC,2.83,9.05,0.00,0.00,0.042,0.000,0.000,22,2354,197,-8.59,0.14,564.93
$IRIDIUM_FIX,4748.51,-12224.57,111007,101010
$TT8_MAMPS,0.026078
$HUMID,1832
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.7,39.6
$24V_AH,24.1,86.685
$10V_AH,10.7,40.767
$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,21.150,32.425,237.700,310.150,0.000,80.244,135.008,260.358,0.750,0.000,0.000,19.945,553.932,1337.761,588.554,703.082,723.215,33.342,938.520,0.000,710.255,0.000,11.586
$DEVICE_MAMPS,206.323,59.059,812.253,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.177,260.130,576.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15964,342
$CFSIZE,260165632,232890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,071207,4806.750,-12222.840,36,1.2,36,18.3