version: 66.03
glider: 128
mission: 2
dive: 1024
start: 10 15 107 20 3 17
data:
$ID,128
$MISSION,2
$DIVE,1024
$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,-94373.297
$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,40
$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
$GPS1,195005,4806.226,-12222.409,12,4.4,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-63.2
$GPS2,200215,4806.359,-12222.486,9,1.9,9,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,-0.160
$KALMAN_X,-15348.0,-133.2,-124.2,16026.8,-112.7
$KALMAN_Y,-3701.7,159.8,224.2,3223.0,35.7
$MHEAD_RNG_PITCHd_Wd,114.4,896,-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,35,-0.96,-146.6,0.0,0.0,0,96,0.00,0.00,-58.78,0.000,2,0.000,0.000,21,2349,1820
$GC,102,-0.96,-146.6,3.0,-1.6,11,165,9.95,0.00,-48.35,0.000,6,0.200,0.000,2465,2349,3099
$GC,236,-0.96,-146.6,11.4,-10.4,34,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2349,3101
$GC,313,-0.96,-146.6,19.9,-11.1,47,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2349,3101
$GC,392,-0.96,-146.6,28.1,-10.9,60,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2349,3101
$GC,608,-0.96,-146.6,51.1,-10.6,97,612,0.00,2.30,0.00,0.000,4,0.000,0.046,2456,3750,3102
$GC,651,-0.96,-146.6,55.8,-11.3,100,655,0.00,2.20,0.00,0.000,6,0.000,0.026,2456,2322,3102
$GC,983,-0.96,-146.6,91.1,-10.6,130,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2320,3102
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1126,-0.28,0.0,106.2,10.7,143,1245,0.73,0.00,114.75,0.739,6,0.109,0.000,2684,2153,2500
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1251,0.96,146.6,111.2,0.0,155,1371,1.20,2.33,112.55,0.696,4,0.075,0.037,3091,774,1900
$GC,1411,0.97,148.4,104.5,7.5,169,1415,0.00,2.25,0.00,0.000,6,0.000,0.030,3091,2149,1900
$GC,1744,0.97,148.4,77.4,8.3,199,1748,0.00,2.33,0.00,0.000,4,0.000,0.043,3092,3561,1899
$GC,1791,0.97,148.4,72.6,9.6,203,1796,0.00,2.22,0.00,0.000,6,0.000,0.026,3101,2155,1899
$GC,2125,0.97,148.4,44.7,8.2,238,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2155,1899
$GC,2343,0.97,148.4,27.9,8.1,275,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2155,1899
$GC,2560,0.97,148.4,11.3,7.6,312,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2155,1899
$GC,2639,1.00,172.8,5.7,6.7,325,2661,0.00,0.00,20.83,0.772,6,0.000,0.000,3101,2155,1795
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,1.5,1.009686
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2779,191.77,0.645,0,0,256,550.21
$SM_GC,2.36,0.00,0.00,191.77,0.000,0.000,0.645,20,2348,256,-8.62,-0.06,550.21
$IRIDIUM_FIX,4751.72,-12219.12,151007,232307
$TT8_MAMPS,0.026078
$HUMID,1834
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,47.3
$24V_AH,23.9,98.508
$10V_AH,10.7,46.107
$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,20.750,14.150,248.125,191.775,0.000,83.327,164.249,213.202,0.500,0.000,0.000,11.348,546.805,1262.742,488.785,685.623,733.237,33.350,854.485,0.000,701.615,0.000,2.521
$DEVICE_MAMPS,200.187,46.020,771.602,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,245.556,262.970,581.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15920,345
$CFSIZE,260165632,229953536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151007,205345,4806.144,-12222.243,11,1.3,11,18.3