version: 66.03
glider: 128
mission: 2
dive: 996
start: 10 14 107 15 14 24
data:
$ID,128
$MISSION,2
$DIVE,996
$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,-93796.516
$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,69
$R_STBD_OVSHOOT,36
$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
$GPS1,150417,4806.741,-12222.849,12,2.7,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-70.8
$GPS2,151323,4806.763,-12222.873,11,2.7,30,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.189
$KALMAN_X,-13502.1,2.8,-44.5,13487.0,-136.0
$KALMAN_Y,-2446.2,-177.3,-5.2,3287.0,187.1
$MHEAD_RNG_PITCHd_Wd,124.9,1779,-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,-42.65,0.000,2,0.000,0.000,17,2328,1402
$GC,85,-0.96,-146.6,3.1,-1.6,8,158,10.00,0.00,-58.60,0.000,6,0.202,0.000,2462,2329,3099
$GC,229,-0.96,-146.6,12.5,-10.6,33,236,0.00,2.40,0.00,0.000,4,0.000,0.047,2453,3746,3101
$GC,284,-0.96,-146.6,19.0,-11.5,42,291,0.00,2.17,0.00,0.000,6,0.000,0.026,2453,2341,3101
$GC,362,-0.96,-146.6,27.8,-10.8,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2341,3102
$GC,574,-0.96,-146.6,50.4,-10.7,92,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2341,3101
$GC,902,-0.96,-146.6,86.0,-11.0,123,906,0.00,2.35,0.00,0.000,4,0.000,0.046,2442,3760,3101
$GC,945,-0.96,-146.6,91.0,-11.9,126,949,0.00,2.17,0.00,0.000,6,0.000,0.026,2442,2341,3101
$STATE,1049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1049,begin apogee
$GC,1061,-0.28,0.0,103.6,11.2,136,1180,0.77,0.00,114.45,0.739,6,0.113,0.000,2682,2147,2499
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1185,0.96,146.6,108.7,0.0,148,1305,1.23,2.50,112.57,0.698,4,0.076,0.041,3085,3558,1901
$GC,1359,0.96,146.6,100.6,8.6,164,1363,0.00,2.28,0.00,0.000,6,0.000,0.026,3096,2151,1901
$GC,1692,0.96,146.6,72.3,8.8,194,1696,0.00,2.33,0.00,0.000,4,0.000,0.042,3096,3557,1900
$GC,1723,0.96,146.6,69.0,9.7,196,1727,0.00,2.25,0.00,0.000,6,0.000,0.027,3107,2138,1900
$GC,2059,0.96,146.6,40.9,8.4,235,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2138,1899
$GC,2275,0.96,146.6,24.0,7.8,272,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2138,1899
$GC,2491,0.99,166.6,8.4,6.9,309,2515,0.00,2.25,17.00,0.776,4,0.000,0.038,3116,759,1819
$GC,2552,1.08,237.8,4.9,5.1,319,2608,0.00,2.25,48.15,0.670,6,0.000,0.031,3116,2159,1528
$GC,2680,1.35,457.1,3.6,-0.1,341,2726,0.25,0.00,43.08,0.668,2,0.047,0.000,3231,2159,1234
$STATE,2727,end climb,NO_VERTICAL_VELOCITY
$STATE,2727,begin surface
$SM_CCo,2733,145.93,0.629,0,0,204,563.21
$SM_GC,2.66,9.30,0.00,0.00,0.041,0.000,0.000,19,2354,196,-8.57,0.11,565.17
$IRIDIUM_FIX,4748.51,-12226.29,141007,191938
$TT8_MAMPS,0.026078
$HUMID,1875
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,79.0,48.7
$24V_AH,23.9,95.383
$10V_AH,10.7,44.703
$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,21.550,23.500,335.250,145.925,0.000,57.197,152.059,117.762,0.500,0.000,0.000,37.321,530.629,1224.340,507.649,705.617,585.051,33.337,889.830,0.000,701.465,0.000,2.522
$DEVICE_MAMPS,202.488,46.787,776.204,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.538,263.067,588.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,349
$CFSIZE,260165632,230752256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,160534,4806.488,-12222.690,13,2.1,32,18.3