version: 66.03
glider: 128
mission: 2
dive: 939
start: 10 12 107 1 4 48
data:
$ID,128
$MISSION,2
$DIVE,939
$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,-88783.914
$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,66
$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
$GPS1,005811,4806.137,-12222.327,25,5.0,44,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-71.5
$GPS2,010348,4806.118,-12222.316,14,4.0,33,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.096
$KALMAN_X,-10533.0,-127.9,-59.1,11349.0,-99.5
$KALMAN_Y,6961.4,68.9,-93.7,-7470.2,50.8
$MHEAD_RNG_PITCHd_Wd,100.8,448,-17.6,-7.547
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-1.10,-97.9,0.0,0.0,0,62,0.00,0.00,-26.60,0.000,2,0.000,0.000,22,2331,1173
$GC,68,-1.16,-146.6,3.2,-2.4,5,142,9.90,2.40,-57.30,0.000,4,0.212,0.058,2388,3753,3099
$GC,434,-1.16,-146.6,48.3,-13.9,69,441,0.00,2.22,0.00,0.000,6,0.000,0.027,2388,2336,3102
$GC,641,-1.16,-146.6,76.5,-14.0,89,645,0.00,2.17,0.00,0.000,4,0.000,0.033,2388,972,3102
$GC,699,-1.16,-146.6,84.7,-13.6,93,705,0.00,2.25,0.00,0.000,6,0.000,0.035,2381,2346,3102
$STATE,862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,862,begin apogee
$GC,873,-0.28,0.0,107.9,13.8,109,991,0.98,0.00,113.57,0.731,6,0.119,0.000,2680,2151,2500
$STATE,991,end apogee,CONTROL_FINISHED_OK
$STATE,991,begin climb
$GC,996,1.16,146.6,113.9,0.0,121,1116,1.40,2.33,111.70,0.686,4,0.073,0.037,3155,776,1901
$GC,1178,1.16,146.6,103.6,10.1,137,1183,0.00,2.25,0.00,0.000,6,0.000,0.031,3155,2153,1900
$GC,1510,1.16,146.6,69.7,10.3,167,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2153,1899
$GC,1847,1.16,146.6,35.9,9.1,210,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2153,1899
$GC,2065,1.16,146.6,17.3,8.3,247,2071,0.00,2.30,0.00,0.000,4,0.000,0.044,3155,3555,1900
$GC,2098,1.16,146.6,14.0,8.8,252,2105,0.00,2.20,0.00,0.000,6,0.000,0.027,3165,2158,1899
$GC,2176,1.18,165.6,8.2,6.6,265,2198,0.00,0.00,16.23,0.786,6,0.000,0.000,3165,2158,1823
$GC,2270,1.42,356.7,6.3,-2.3,281,2420,0.17,2.40,143.35,0.647,4,0.057,0.037,3258,763,1045
$GC,2445,1.53,449.6,3.5,2.7,311,2522,0.00,2.28,71.62,0.621,6,0.000,0.029,3258,2154,666
$GC,2598,1.68,567.4,2.1,1.4,337,2611,0.15,0.00,10.43,0.693,2,0.056,0.000,3335,2154,588
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,1.4,1.009640
$STATE,2776,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2776,begin surface
$SM_CCo,2803,29.20,0.681,0,0,404,514.15
$SM_GC,2.90,0.00,0.00,29.20,0.000,0.000,0.681,11,2359,404,-8.65,0.25,514.15
$IRIDIUM_FIX,4748.51,-12220.12,121007,040446
$TT8_MAMPS,0.026078
$HUMID,1872
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,82.3,53.9
$24V_AH,24.0,88.730
$10V_AH,10.7,41.678
$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,22.175,23.350,466.900,29.200,0.000,30.775,33.795,115.773,1.000,0.000,0.000,35.730,526.594,1015.703,452.155,755.664,434.163,33.346,880.770,0.000,746.420,0.000,4.076
$DEVICE_MAMPS,211.692,57.525,786.175,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.423,270.186,621.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19205,368
$CFSIZE,260165632,232374272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,015437,4805.868,-12221.988,112,1.2,112,18.3