version: 66.03
glider: 128
mission: 2
dive: 929
start: 10 11 107 14 53 23
data:
$ID,128
$MISSION,2
$DIVE,929
$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,-88547.391
$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,62
$R_STBD_OVSHOOT,36
$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
$GPS1,144653,4806.107,-12222.410,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.7
$GPS2,145223,4806.165,-12222.453,11,2.3,30,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,-0.120
$KALMAN_X,-9530.2,-267.8,-320.2,10578.1,-119.5
$KALMAN_Y,7593.5,-5.8,358.9,-8396.2,90.7
$MHEAD_RNG_PITCHd_Wd,102.3,638,-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,34,-0.96,-146.6,0.0,0.0,0,84,0.00,0.00,-47.97,0.000,2,0.000,0.000,16,2329,1539
$GC,90,-0.96,-146.6,3.3,-1.6,9,157,9.98,0.00,-53.28,0.000,6,0.202,0.000,2475,2328,3100
$GC,228,-0.96,-146.6,11.5,-9.1,33,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2328,3102
$GC,305,-0.96,-146.6,19.2,-10.2,46,311,0.00,2.38,0.00,0.000,4,0.000,0.047,2466,3753,3102
$GC,337,-0.96,-146.6,22.4,-10.1,51,344,0.00,2.22,0.00,0.000,6,0.000,0.026,2466,2340,3102
$GC,552,-0.96,-146.6,43.9,-10.0,88,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2340,3102
$GC,755,-0.96,-146.6,64.7,-10.5,112,759,0.00,2.35,0.00,0.000,4,0.000,0.047,2456,3756,3102
$GC,786,-0.96,-146.6,68.1,-11.3,114,792,0.00,2.17,0.00,0.000,6,0.000,0.026,2456,2340,3102
$GC,1118,-0.96,-146.6,104.0,-10.9,145,1122,0.00,2.33,0.00,0.000,4,0.000,0.047,2447,3753,3102
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1140,-0.28,0.0,106.0,11.0,146,1258,0.80,0.00,113.97,0.736,6,0.115,0.000,2694,2146,2500
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1264,0.96,146.6,111.4,0.0,158,1383,1.20,2.33,111.85,0.685,4,0.074,0.037,3100,778,1901
$GC,1414,0.99,164.3,105.9,6.9,171,1434,0.00,2.28,15.40,0.686,6,0.000,0.031,3100,2159,1830
$GC,1763,0.99,164.3,74.8,8.8,204,1767,0.00,2.30,0.00,0.000,4,0.000,0.044,3100,3550,1828
$GC,1821,0.99,164.3,69.1,9.7,208,1827,0.00,2.22,0.00,0.000,6,0.000,0.027,3110,2159,1828
$GC,2155,0.99,164.3,39.1,8.9,249,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2159,1828
$GC,2371,0.99,164.3,20.9,8.3,286,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2159,1828
$GC,2588,1.05,216.4,4.9,5.7,323,2633,0.00,2.42,39.55,0.716,4,0.000,0.044,3110,3563,1616
$GC,2755,1.33,441.4,3.9,-0.3,351,2797,0.28,2.25,35.55,0.683,2,0.046,0.026,3231,2136,1376
$STATE,2798,end climb,NO_VERTICAL_VELOCITY
$STATE,2798,begin surface
$SM_CCo,2804,167.65,0.620,0,0,204,563.21
$SM_GC,2.78,9.38,0.00,0.00,0.044,0.000,0.000,14,2366,195,-8.61,0.45,565.42
$IRIDIUM_FIX,4751.72,-12221.84,111007,171708
$TT8_MAMPS,0.025311
$HUMID,1842
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,15.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.7,43.2
$24V_AH,23.8,87.609
$10V_AH,10.7,41.181
$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,21.625,28.175,316.325,167.650,0.000,28.425,34.787,113.679,0.750,0.000,0.000,32.544,553.924,1192.387,510.876,733.717,437.826,33.344,906.394,0.000,729.484,0.000,2.513
$DEVICE_MAMPS,201.721,46.787,735.553,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.704,270.343,603.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15920,358
$CFSIZE,260165632,232665088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,154545,4805.986,-12222.119,13,1.9,13,18.3