version: 66.03
glider: 128
mission: 2
dive: 924
start: 10 11 107 9 27 34
data:
$ID,128
$MISSION,2
$DIVE,924
$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,-88415.688
$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,69
$R_STBD_OVSHOOT,39
$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
$GPS1,091832,4806.197,-12222.509,10,1.6,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.6
$GPS2,092634,4806.182,-12222.506,15,1.7,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.216,-0.096
$KALMAN_X,-7816.3,58.2,-16.7,8173.4,-180.5
$KALMAN_Y,6607.2,-400.1,-112.4,-6513.2,36.6
$MHEAD_RNG_PITCHd_Wd,95.5,710,-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,-146.6,0.0,0.0,0,67,0.00,0.00,-31.73,0.000,2,0.000,0.000,13,2330,1106
$GC,73,-0.96,-146.6,3.1,-1.5,6,141,10.30,2.47,-51.80,0.000,4,0.212,0.058,2462,3761,3100
$GC,240,-0.96,-146.6,21.4,-12.0,34,247,0.00,2.20,0.00,0.000,6,0.000,0.026,2462,2347,3102
$GC,457,-0.96,-146.6,43.1,-9.9,71,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2347,3102
$GC,665,-0.96,-146.6,64.1,-9.9,96,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2347,3103
$GC,983,-0.96,-146.6,97.4,-10.4,126,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2347,3102
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1064,-0.28,0.0,105.3,10.3,133,1181,0.73,0.00,114.05,0.740,6,0.109,0.000,2691,2150,2499
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1187,0.96,146.6,110.1,0.0,145,1306,1.23,2.35,111.78,0.685,4,0.074,0.038,3106,763,1901
$GC,1340,0.96,146.6,103.7,8.1,159,1344,0.00,2.30,0.00,0.000,6,0.000,0.030,3106,2160,1901
$GC,1671,0.96,146.6,75.2,8.4,189,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2161,1900
$GC,2000,0.96,146.6,47.6,8.1,222,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2161,1900
$GC,2216,0.98,159.6,31.5,7.1,259,2232,0.00,0.00,12.05,0.808,6,0.000,0.000,3105,2161,1848
$GC,2442,0.99,164.2,14.4,7.4,298,2454,0.00,0.00,5.25,0.647,6,0.000,0.000,3106,2160,1830
$GC,2525,1.11,261.8,10.1,4.2,312,2603,0.12,0.00,74.20,0.676,6,0.066,0.000,3164,2160,1431
$GC,2678,1.31,426.9,7.4,1.8,338,2812,0.12,2.38,126.22,0.639,4,0.061,0.042,3224,3549,757
$GC,3124,1.58,646.0,4.2,-0.0,416,3220,0.20,2.20,89.57,0.653,2,0.050,0.026,3320,2151,270
$STATE,3220,end climb,SURFACE_DEPTH_REACHED
$STATE,3221,begin surface coast
$FINISH,1.7,1.008347
$STATE,3295,end surface coast,CONTROL_FINISHED_OK
$STATE,3295,begin surface
$SM_CCo,3383,0.00,0.000,0,0,259,549.47
$SM_GC,2.57,9.57,0.00,0.00,0.046,0.000,0.000,12,2355,259,-8.61,0.14,549.47
$IRIDIUM_FIX,4751.72,-12219.12,111007,131348
$TT8_MAMPS,0.026078
$HUMID,1867
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,47.9
$24V_AH,24.1,87.033
$10V_AH,10.7,40.921
$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,22.275,14.475,533.125,0.000,0.000,51.040,33.168,196.078,0.500,0.000,0.000,16.607,617.737,1388.809,460.800,858.408,548.127,33.342,944.102,0.000,874.672,0.000,2.521
$DEVICE_MAMPS,212.459,58.292,807.651,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.355,334.319,753.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22253,446
$CFSIZE,260165632,232796160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,102538,4806.146,-12222.327,62,1.7,62,18.3