version: 66.03
glider: 128
mission: 2
dive: 973
start: 10 13 107 15 5 46
data:
$ID,128
$MISSION,2
$DIVE,973
$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,563.2088
$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,-92474.352
$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,67
$R_STBD_OVSHOOT,38
$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
$GPS1,145641,4806.961,-12223.003,9,3.2,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.9
$GPS2,150444,4807.000,-12223.040,11,1.3,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,-0.186
$KALMAN_X,-11118.4,30.4,32.1,10790.7,-118.0
$KALMAN_Y,-844.4,-202.9,-103.5,2246.6,103.9
$MHEAD_RNG_PITCHd_Wd,123.6,2255,-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,34,-0.96,-146.6,0.0,0.0,0,95,0.00,0.00,-58.65,0.000,2,0.000,0.000,12,2329,1792
$GC,101,-0.96,-146.6,3.1,-1.1,11,163,10.12,2.20,-45.08,0.000,4,0.206,0.046,2467,962,3098
$GC,184,-0.96,-146.6,7.1,-8.1,25,190,0.00,2.28,0.00,0.000,6,0.000,0.033,2468,2359,3099
$GC,261,-0.96,-146.6,14.8,-10.3,38,268,0.00,2.33,0.00,0.000,4,0.000,0.048,2464,3756,3099
$GC,305,-0.96,-146.6,19.4,-11.1,45,312,0.00,2.22,0.00,0.000,6,0.000,0.026,2464,2341,3099
$GC,383,-0.96,-146.6,27.5,-10.5,58,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2342,3100
$GC,594,-0.96,-146.6,48.7,-9.9,95,601,0.00,2.33,0.00,0.000,4,0.000,0.046,2454,3752,3100
$GC,655,-0.96,-146.6,55.3,-11.1,101,659,0.00,2.15,0.00,0.000,6,0.000,0.026,2454,2353,3100
$GC,992,-0.96,-146.6,91.7,-10.6,132,996,0.00,2.20,0.00,0.000,4,0.000,0.033,2454,968,3100
$GC,1050,-0.96,-146.6,98.8,-11.2,136,1056,0.00,2.25,0.00,0.000,6,0.000,0.034,2450,2351,3100
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1098,-0.28,0.0,103.2,11.2,140,1215,0.75,0.00,114.07,0.742,6,0.107,0.000,2686,2146,2499
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1221,0.96,146.6,108.3,0.0,152,1338,1.20,0.00,112.65,0.699,6,0.073,0.000,3085,2146,1901
$GC,1655,0.96,146.6,78.7,8.5,193,1659,0.00,2.33,0.00,0.000,4,0.000,0.043,3085,3553,1900
$GC,1703,0.96,146.6,74.5,8.9,197,1707,0.00,2.20,0.00,0.000,6,0.000,0.026,3096,2164,1900
$GC,2034,0.96,146.6,47.3,8.1,229,2041,0.00,2.28,0.00,0.000,4,0.000,0.037,3106,748,1900
$GC,2074,0.96,146.6,44.2,8.3,235,2080,0.00,2.25,0.00,0.000,6,0.000,0.031,3106,2156,1899
$GC,2288,0.96,146.6,26.6,8.0,272,2294,0.00,2.30,0.00,0.000,4,0.000,0.044,3106,3561,1900
$GC,2422,0.96,146.6,15.5,8.3,295,2429,0.00,2.22,0.00,0.000,6,0.000,0.026,3116,2147,1900
$GC,2500,0.98,156.7,9.7,7.2,308,2517,0.00,2.30,9.65,0.771,4,0.000,0.038,3125,759,1860
$GC,2636,1.28,405.7,4.0,-1.1,331,2817,0.20,2.22,167.68,0.662,6,0.053,0.030,3212,2158,844
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2832,begin surface coast
$FINISH,2.0,1.020393
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,2975,80.28,0.653,0,0,203,563.21
$SM_GC,2.43,9.23,0.00,0.00,0.041,0.000,0.000,21,2356,195,-8.56,0.17,565.42
$IRIDIUM_FIX,4751.72,-12221.84,131007,181804
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.1,44.1
$24V_AH,23.9,92.799
$10V_AH,10.7,43.519
$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,21.500,36.625,404.050,80.275,0.000,58.805,29.233,195.983,0.250,0.000,0.000,12.973,577.422,1272.355,498.337,765.091,555.648,33.333,933.380,0.000,783.190,0.000,2.515
$DEVICE_MAMPS,206.323,47.554,770.835,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.108,291.068,658.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19081,390
$CFSIZE,260165632,231403520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,160007,4806.784,-12222.914,49,1.5,49,18.3