version: 66.03
glider: 128
mission: 2
dive: 1004
start: 10 14 107 23 12 30
data:
$ID,128
$MISSION,2
$DIVE,1004
$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,550
$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,-93947.82
$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,55
$R_STBD_OVSHOOT,44
$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
$GPS1,230159,4806.988,-12223.094,12,2.2,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-69.8
$GPS2,231129,4806.978,-12223.017,11,2.4,30,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.187
$KALMAN_X,-14201.8,-142.6,59.1,14048.6,-6.6
$KALMAN_Y,-3011.5,59.0,-125.6,4133.9,-52.5
$MHEAD_RNG_PITCHd_Wd,123.9,2205,-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,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,-42.90,0.000,2,0.000,0.000,20,2352,1469
$GC,85,-0.96,-146.6,3.3,-2.6,8,153,10.25,2.30,-50.42,0.000,4,0.212,0.046,2465,942,3099
$GC,463,-0.96,-146.6,37.0,-10.4,74,470,0.00,2.28,0.00,0.000,6,0.000,0.033,2458,2353,3101
$GC,677,-0.96,-146.6,59.1,-10.3,104,681,0.00,2.25,0.00,0.000,4,0.000,0.033,2458,949,3101
$GC,740,-0.96,-146.6,66.2,-11.0,109,747,0.00,2.25,0.00,0.000,6,0.000,0.034,2453,2352,3101
$GC,1068,-0.96,-146.6,101.8,-10.8,140,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2352,3101
$STATE,1094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1094,begin apogee
$GC,1106,-0.28,0.0,105.2,10.9,143,1224,0.73,0.00,114.28,0.739,6,0.107,0.000,2682,2138,2500
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1230,0.96,146.6,110.6,0.0,155,1347,1.20,0.00,112.43,0.696,6,0.073,0.000,3083,2138,1901
$GC,1667,0.96,146.6,82.1,7.9,196,1671,0.00,2.38,0.00,0.000,4,0.000,0.042,3083,3560,1899
$GC,1702,0.96,146.6,79.0,8.6,198,1709,0.00,2.22,0.00,0.000,6,0.000,0.026,3093,2157,1899
$GC,2036,0.96,146.6,52.6,8.4,229,2040,0.00,2.30,0.00,0.000,4,0.000,0.042,3093,3551,1899
$GC,2073,0.96,146.6,48.7,9.3,232,2080,0.00,2.25,0.00,0.000,6,0.000,0.027,3104,2144,1899
$GC,2289,0.96,146.9,31.3,7.5,269,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2143,1899
$GC,2504,0.99,167.2,15.5,6.8,306,2528,0.00,2.35,17.60,0.778,4,0.000,0.041,3104,3559,1817
$GC,2577,1.03,196.1,10.7,6.5,318,2606,0.00,2.25,23.42,0.688,6,0.000,0.026,3113,2143,1700
$GC,2678,1.17,314.8,5.1,3.4,335,2774,0.12,2.38,89.50,0.663,4,0.063,0.038,3181,759,1215
$GC,2823,1.39,493.2,4.2,1.4,359,2967,0.12,2.28,135.55,0.640,6,0.060,0.029,3245,2155,488
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,1.5,1.000249
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3048,35.88,0.656,0,0,256,550.21
$SM_GC,2.58,0.00,0.00,35.88,0.000,0.000,0.656,23,2366,256,-8.62,0.45,550.21
$IRIDIUM_FIX,4748.51,-12221.84,151007,030314
$TT8_MAMPS,0.026845
$HUMID,1867
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.2,35.6
$24V_AH,23.9,96.218
$10V_AH,10.7,45.092
$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,21.750,28.100,492.775,35.875,0.000,53.459,30.516,255.603,1.500,0.000,0.000,32.903,558.371,1198.181,479.508,803.173,630.719,33.374,936.261,0.000,802.102,0.000,8.606
$DEVICE_MAMPS,211.692,46.020,777.738,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.295,290.852,664.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19034,394
$CFSIZE,260165632,230514688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,000507,4806.708,-12222.794,12,0.9,28,18.3