version: 66.03
glider: 128
mission: 2
dive: 984
start: 10 14 107 2 38 23
data:
$ID,128
$MISSION,2
$DIVE,984
$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,-92673.086
$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,62
$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
$GPS1,023145,4806.998,-12222.974,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.6
$GPS2,023721,4807.018,-12223.007,10,1.7,10,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.183
$KALMAN_X,-12425.3,-144.4,36.2,12310.9,-103.9
$KALMAN_Y,-1462.5,16.7,-101.3,2673.4,36.4
$MHEAD_RNG_PITCHd_Wd,122.5,2259,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,74,0.00,0.00,-37.20,0.000,2,0.000,0.000,15,2336,1261
$GC,80,-0.96,-146.6,3.0,-1.1,7,158,10.02,2.25,-60.58,0.000,4,0.204,0.047,2463,953,3099
$GC,179,-0.96,-146.6,7.8,-7.1,24,186,0.00,2.28,0.00,0.000,6,0.000,0.033,2456,2358,3100
$GC,257,-0.96,-146.6,15.1,-9.9,37,264,0.00,2.30,0.00,0.000,4,0.000,0.047,2446,3749,3102
$GC,352,-0.96,-146.6,24.9,-10.4,53,358,0.00,2.20,0.00,0.000,6,0.000,0.026,2446,2325,3101
$GC,567,-0.96,-146.6,47.3,-10.3,90,573,0.00,2.38,0.00,0.000,4,0.000,0.046,2436,3758,3102
$GC,605,-0.96,-146.6,51.7,-11.7,95,610,0.12,2.17,0.00,0.000,6,0.130,0.025,2468,2347,3102
$GC,932,-0.96,-146.6,84.7,-9.7,125,936,0.00,2.17,0.00,0.000,4,0.000,0.033,2468,974,3102
$GC,974,-0.96,-146.6,89.0,-10.5,128,978,0.00,2.22,0.00,0.000,6,0.000,0.034,2467,2354,3101
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1145,-0.28,0.0,105.5,9.8,143,1262,0.68,0.00,114.35,0.744,6,0.104,0.000,2683,2150,2500
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1269,0.96,146.6,110.5,0.0,155,1389,1.20,2.35,112.57,0.701,4,0.074,0.036,3092,753,1901
$GC,1433,0.97,147.4,103.5,7.5,169,1439,0.00,2.30,0.00,0.000,6,0.000,0.030,3092,2163,1900
$GC,1765,0.97,147.4,76.0,8.5,200,1769,0.00,2.28,0.00,0.000,4,0.000,0.044,3092,3553,1900
$GC,1813,0.97,147.4,71.2,9.3,204,1817,0.00,2.22,0.00,0.000,6,0.000,0.026,3102,2143,1900
$GC,2146,0.97,147.4,44.0,7.7,240,2152,0.00,2.22,0.00,0.000,4,0.000,0.038,3111,760,1899
$GC,2178,0.97,147.4,41.3,8.3,245,2185,0.00,2.22,0.00,0.000,6,0.000,0.031,3111,2156,1899
$GC,2393,0.97,147.4,24.0,7.9,282,2399,0.00,2.30,0.00,0.000,4,0.000,0.044,3111,3559,1899
$GC,2425,0.97,147.4,21.3,8.2,287,2432,0.12,2.22,0.00,0.000,6,0.144,0.027,3089,2147,1899
$GC,2641,1.02,195.2,7.3,5.9,324,2686,0.00,2.38,37.75,0.726,4,0.000,0.043,3089,3554,1703
$GC,2845,1.29,409.0,4.1,0.1,359,2993,0.28,2.22,139.35,0.666,6,0.045,0.026,3210,2139,830
$STATE,3002,end climb,SURFACE_DEPTH_REACHED
$STATE,3002,begin surface coast
$FINISH,1.9,1.019368
$STATE,3116,end surface coast,CONTROL_FINISHED_OK
$STATE,3116,begin surface
$SM_CCo,3143,84.82,0.656,0,0,203,563.21
$SM_GC,2.37,0.00,0.00,84.82,0.000,0.000,0.656,12,2353,203,-8.65,0.08,563.21
$IRIDIUM_FIX,4748.51,-12224.57,141007,050536
$TT8_MAMPS,0.026078
$HUMID,1851
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,42.7
$24V_AH,23.9,94.038
$10V_AH,10.7,44.079
$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,21.725,41.325,404.025,84.825,0.000,26.003,38.384,111.022,0.250,0.000,0.000,11.739,605.507,1191.068,488.490,807.028,488.670,33.339,942.419,0.000,825.616,0.000,6.810
$DEVICE_MAMPS,204.022,46.787,743.990,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,290.405,304.680,686.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19099,407
$CFSIZE,260165632,231088128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,033337,4806.717,-12222.775,35,1.0,41,18.3