version: 66.03
glider: 128
mission: 2
dive: 985
start: 10 14 107 3 43 0
data:
$ID,128
$MISSION,2
$DIVE,985
$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,-92687.094
$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,63
$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
$GPS1,033337,4806.717,-12222.775,35,1.0,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-67.8
$GPS2,034203,4806.753,-12222.808,11,1.2,11,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.187
$KALMAN_X,-12561.4,-140.1,2.0,12722.2,-80.5
$KALMAN_Y,-1456.4,-0.4,-67.0,2162.4,71.1
$MHEAD_RNG_PITCHd_Wd,124.0,1715,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-53.30,0.000,2,0.000,0.000,12,2354,1666
$GC,96,-0.96,-146.6,3.0,-1.3,10,158,10.02,0.00,-47.80,0.000,6,0.202,0.000,2467,2354,3099
$GC,229,-0.96,-146.6,11.4,-8.9,33,236,0.00,2.35,0.00,0.000,4,0.000,0.046,2458,3751,3102
$GC,313,-0.96,-146.6,20.4,-10.9,47,319,0.00,2.20,0.00,0.000,6,0.000,0.026,2458,2331,3102
$GC,528,-0.96,-146.6,41.6,-9.9,84,534,0.00,2.38,0.00,0.000,4,0.000,0.045,2450,3758,3102
$GC,566,-0.96,-146.6,45.8,-10.9,90,572,0.00,2.17,0.00,0.000,6,0.000,0.026,2450,2349,3102
$GC,769,-0.96,-146.6,67.6,-11.2,112,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2348,3102
$GC,1097,-0.96,-146.6,102.2,-10.6,143,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2348,3102
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1122,begin apogee
$GC,1134,-0.28,0.0,105.6,10.8,146,1252,0.75,0.00,114.57,0.746,6,0.110,0.000,2684,2149,2500
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1259,0.96,146.6,110.7,0.0,158,1376,1.20,0.00,112.80,0.703,6,0.075,0.000,3082,2149,1902
$GC,1694,0.96,146.6,82.6,7.6,199,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2149,1900
$GC,2022,0.96,146.6,57.4,7.7,230,2026,0.00,2.33,0.00,0.000,4,0.000,0.042,3082,3560,1899
$GC,2046,0.96,146.6,55.2,8.4,231,2052,0.00,2.20,0.00,0.000,6,0.000,0.026,3092,2157,1899
$GC,2391,0.96,146.6,28.5,7.6,286,2397,0.00,2.30,0.00,0.000,4,0.000,0.041,3092,3558,1899
$GC,2474,0.96,146.6,21.8,8.1,300,2480,0.00,2.22,0.00,0.000,6,0.000,0.026,3103,2140,1899
$GC,2689,1.01,185.4,7.0,6.2,337,2723,0.00,0.00,30.42,0.738,6,0.000,0.000,3103,2140,1743
$GC,2794,1.24,374.0,3.1,1.0,355,2912,0.17,2.47,110.70,0.663,4,0.054,0.041,3194,3552,973
$GC,2958,1.53,604.0,2.4,-0.4,383,3043,0.20,2.25,78.47,0.646,2,0.048,0.026,3293,2148,389
$STATE,3043,end climb,SURFACE_DEPTH_REACHED
$STATE,3043,begin surface coast
$FINISH,1.9,1.017746
$STATE,3060,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3064,begin surface
$SM_CCo,3092,26.98,0.650,0,0,203,563.21
$SM_GC,2.48,0.00,0.00,26.98,0.000,0.000,0.650,18,2366,203,-8.63,0.45,563.21
$IRIDIUM_FIX,4748.51,-12224.57,141007,070702
$TT8_MAMPS,0.026845
$HUMID,1862
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,44.9
$24V_AH,23.9,94.147
$10V_AH,10.7,44.132
$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,21.950,23.475,446.975,26.975,0.000,54.289,24.091,218.361,0.250,0.000,0.000,13.382,570.546,1263.973,462.551,768.914,569.110,33.331,902.008,0.000,787.863,0.000,2.515
$DEVICE_MAMPS,202.488,46.020,746.291,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,287.532,299.199,676.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19061,401
$CFSIZE,260165632,231059456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,043551,4806.408,-12222.546,7,1.7,7,18.3