version: 66.03
glider: 128
mission: 2
dive: 927
start: 10 11 107 12 51 24
data:
$ID,128
$MISSION,2
$DIVE,927
$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,-88483.328
$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,63
$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
$GPS1,123337,4806.188,-12222.479,12,1.3,28,18.3
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-68.3
$GPS2,125027,4806.405,-12222.712,15,1.2,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,-0.168
$KALMAN_X,-9183.2,-95.1,-214.0,9637.3,-328.6
$KALMAN_Y,7570.5,-250.5,192.5,-7523.4,353.5
$MHEAD_RNG_PITCHd_Wd,117.1,1156,-14.1,-7.547
$D_GRID,103
$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,38,-0.96,-146.6,0.0,0.0,0,66,0.00,0.00,-26.50,0.000,2,0.000,0.000,13,2330,1155
$GC,72,-0.96,-146.6,3.1,-2.0,5,151,10.12,2.22,-60.95,0.000,4,0.206,0.046,2475,956,3098
$GC,247,-0.96,-146.6,16.3,-10.6,35,253,0.00,2.28,0.00,0.000,6,0.000,0.034,2471,2355,3099
$GC,324,-0.96,-146.6,23.8,-9.9,48,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2355,3100
$GC,535,-0.96,-146.6,44.7,-9.7,85,542,0.00,2.33,0.00,0.000,4,0.000,0.048,2463,3764,3100
$GC,590,-0.96,-146.6,50.5,-10.6,94,596,0.00,2.20,0.00,0.000,6,0.000,0.026,2463,2335,3099
$GC,921,-0.96,-146.6,85.0,-10.6,125,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2335,3100
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1107,-0.28,0.0,103.8,10.5,142,1224,0.73,0.00,113.68,0.746,6,0.113,0.000,2689,2152,2500
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1230,0.96,146.6,108.7,0.0,154,1347,1.23,0.00,112.10,0.681,6,0.075,0.000,3095,2152,1901
$GC,1664,0.96,146.6,78.4,7.9,195,1668,0.00,2.33,0.00,0.000,4,0.000,0.043,3096,3556,1900
$GC,1700,0.96,146.6,75.1,9.4,198,1705,0.00,2.22,0.00,0.000,6,0.000,0.027,3106,2151,1900
$GC,2034,0.96,146.6,48.2,8.1,229,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2151,1899
$GC,2250,0.96,146.6,31.1,7.6,266,2256,0.00,2.33,0.00,0.000,4,0.000,0.043,3106,3561,1899
$GC,2289,0.96,146.6,27.5,8.6,272,2296,0.00,2.22,0.00,0.000,6,0.000,0.027,3117,2145,1899
$GC,2503,1.00,172.1,11.1,6.7,309,2527,0.00,0.00,21.33,0.821,6,0.000,0.000,3117,2145,1798
$GC,2598,1.07,235.0,5.8,5.4,325,2654,0.00,2.33,47.50,0.670,4,0.000,0.037,3123,760,1541
$STATE,2773,end climb,NO_VERTICAL_VELOCITY
$STATE,2773,begin surface
$SM_CCo,2779,219.52,0.634,0,0,203,563.21
$SM_GC,2.62,9.05,0.00,0.00,0.044,0.000,0.000,22,2370,194,-8.59,0.57,565.66
$IRIDIUM_FIX,4748.51,-12220.12,111007,161631
$TT8_MAMPS,0.026078
$HUMID,1841
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.2,48.8
$24V_AH,24.1,87.398
$10V_AH,10.7,41.084
$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,21.125,23.375,294.600,219.525,0.000,105.529,79.506,461.973,0.500,0.000,0.000,16.536,547.689,1413.332,547.205,688.113,937.894,33.346,912.407,0.000,702.104,0.000,2.522
$DEVICE_MAMPS,206.323,48.321,820.690,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.414,271.295,600.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,356
$CFSIZE,260165632,232714240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,134438,4806.190,-12222.562,36,1.1,36,18.3