version: 66.03
glider: 128
mission: 2
dive: 1020
start: 10 15 107 15 52 11
data:
$ID,128
$MISSION,2
$DIVE,1020
$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,-94302.078
$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,52
$R_STBD_OVSHOOT,42
$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
$GPS1,154231,4806.828,-12223.005,39,1.9,45,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-67.4
$GPS2,155114,4806.897,-12223.037,15,1.8,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.204
$KALMAN_X,-14688.6,47.8,-41.6,14423.2,-102.5
$KALMAN_Y,-4170.5,-172.9,109.4,5138.9,268.9
$MHEAD_RNG_PITCHd_Wd,131.5,2099,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,39,-0.96,-146.6,0.0,0.0,0,90,0.00,0.00,-48.12,0.000,2,0.000,0.000,19,2363,1533
$GC,96,-0.96,-146.6,3.2,-1.8,9,169,9.80,2.38,-53.78,0.000,4,0.196,0.058,2454,3746,3099
$GC,180,-0.96,-146.6,6.4,-5.9,23,186,0.00,2.22,0.00,0.000,6,0.000,0.025,2454,2316,3100
$GC,257,-0.96,-146.6,14.1,-10.3,36,264,0.00,2.17,0.00,0.000,4,0.000,0.033,2453,975,3101
$GC,324,-0.96,-146.6,21.1,-10.5,47,330,0.00,2.22,0.00,0.000,6,0.000,0.034,2452,2351,3101
$GC,539,-0.96,-146.6,43.7,-10.4,84,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2351,3101
$GC,747,-0.96,-146.6,65.9,-10.6,108,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2351,3101
$GC,1076,-0.96,-146.6,100.8,-10.9,139,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2351,3101
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1113,-0.28,0.0,104.1,10.7,142,1231,0.75,0.00,114.38,0.735,6,0.106,0.000,2689,2152,2499
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1237,0.96,146.6,108.9,0.0,154,1360,1.17,2.45,112.50,0.693,4,0.071,0.042,3083,3554,1901
$GC,1391,0.96,146.6,102.4,8.0,168,1397,0.00,2.28,0.00,0.000,6,0.000,0.026,3094,2148,1900
$GC,1723,0.96,146.6,74.5,8.3,199,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2148,1899
$GC,2053,0.96,146.6,47.0,8.2,233,2059,0.00,2.30,0.00,0.000,4,0.000,0.042,3094,3554,1899
$GC,2108,0.96,146.6,42.1,9.0,242,2114,0.00,2.22,0.00,0.000,6,0.000,0.027,3104,2140,1899
$GC,2323,0.96,146.6,25.1,7.9,279,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2140,1899
$GC,2541,0.99,166.6,9.7,6.9,316,2564,0.00,2.25,17.25,0.782,4,0.000,0.037,3112,755,1819
$GC,2603,1.02,193.1,5.5,6.6,326,2632,0.00,2.25,20.73,0.670,6,0.000,0.030,3112,2160,1710
$GC,2703,1.34,449.7,3.6,-1.4,343,2864,0.25,2.40,151.27,0.646,4,0.047,0.042,3229,3549,663
$STATE,2929,end climb,SURFACE_DEPTH_REACHED
$STATE,2929,begin surface coast
$FINISH,1.5,1.009864
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3055,56.75,0.657,0,0,256,550.21
$SM_GC,2.25,0.00,0.00,56.75,0.000,0.000,0.657,18,2330,256,-8.63,-0.57,550.21
$IRIDIUM_FIX,4748.51,-12233.46,151007,191905
$TT8_MAMPS,0.026078
$HUMID,1865
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,78.4,44.4
$24V_AH,23.9,98.084
$10V_AH,10.7,45.908
$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,21.200,27.375,416.125,56.750,0.000,59.010,39.247,215.364,0.750,0.000,0.000,17.304,572.933,1229.996,496.005,760.084,587.473,33.349,922.899,0.000,777.342,0.000,2.519
$DEVICE_MAMPS,195.585,57.525,782.340,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.452,297.818,674.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19112,400
$CFSIZE,260165632,230060032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,164522,4806.668,-12222.901,13,2.9,32,18.3