version: 66.03
glider: 128
mission: 2
dive: 976
start: 10 13 107 18 15 36
data:
$ID,128
$MISSION,2
$DIVE,976
$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,-92536.438
$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,53
$R_STBD_OVSHOOT,41
$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
$GPS1,180859,4806.321,-12222.639,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-69.6
$GPS2,181435,4806.343,-12222.675,10,2.2,29,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.131
$KALMAN_X,-11657.0,-111.7,-60.1,12015.5,-144.9
$KALMAN_Y,-875.1,-15.7,26.3,748.1,57.6
$MHEAD_RNG_PITCHd_Wd,105.4,1049,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-42.72,0.000,2,0.000,0.000,13,2363,1405
$GC,84,-0.96,-146.6,3.2,-1.5,8,158,9.98,0.00,-59.80,0.000,6,0.202,0.000,2465,2363,3098
$GC,229,-0.96,-146.6,12.0,-10.1,33,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2363,3101
$GC,306,-0.96,-146.6,20.5,-10.9,46,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2363,3101
$GC,517,-0.96,-146.6,43.0,-10.5,83,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2364,3101
$GC,727,-0.96,-146.6,65.2,-10.7,108,731,0.00,2.28,0.00,0.000,4,0.000,0.033,2465,944,3102
$GC,780,-0.96,-146.6,70.9,-10.3,112,785,0.00,2.28,0.00,0.000,6,0.000,0.034,2465,2353,3101
$STATE,1096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1108,-0.28,0.0,104.0,10.1,141,1226,0.68,0.00,114.35,0.745,6,0.104,0.000,2681,2131,2500
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1232,0.96,146.6,109.5,0.0,153,1349,1.23,0.00,112.50,0.702,6,0.074,0.000,3088,2131,1901
$GC,1669,0.96,146.6,80.7,7.6,194,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2131,1899
$GC,1997,0.96,146.6,54.4,8.0,225,2001,0.00,2.35,0.00,0.000,4,0.000,0.042,3088,3556,1899
$GC,2067,0.96,146.6,48.2,8.9,232,2073,0.00,2.20,0.00,0.000,6,0.000,0.027,3096,2157,1899
$GC,2282,0.96,146.6,31.4,7.9,269,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2157,1899
$GC,2498,0.98,158.9,15.7,7.1,306,2515,0.00,0.00,11.43,0.795,6,0.000,0.000,3096,2157,1851
$GC,2586,0.99,171.1,9.0,7.1,321,2604,0.00,0.00,10.93,0.747,6,0.000,0.000,3096,2157,1801
$GC,2675,1.08,242.2,3.8,5.1,336,2721,0.00,2.38,40.88,0.684,4,0.000,0.036,3096,758,1511
$STATE,2842,end climb,NO_VERTICAL_VELOCITY
$STATE,2842,begin surface
$SM_CCo,2848,165.02,0.650,0,0,204,563.21
$SM_GC,2.54,8.88,0.00,0.00,0.038,0.000,0.000,15,2367,195,-8.58,0.48,565.42
$IRIDIUM_FIX,4748.51,-12221.84,131007,212135
$TT8_MAMPS,0.026078
$HUMID,1863
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.5,55.6
$24V_AH,23.9,93.124
$10V_AH,10.7,43.670
$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,20.750,14.475,290.075,165.025,0.000,30.326,33.895,116.188,0.500,0.000,0.000,31.658,556.161,1271.608,490.364,733.935,427.422,33.335,870.707,0.000,732.521,0.000,2.531
$DEVICE_MAMPS,201.721,42.185,795.379,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.398,279.618,615.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19133,365
$CFSIZE,260165632,231325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,190839,4806.113,-12222.317,10,1.7,10,18.3