version: 66.03
glider: 128
mission: 2
dive: 1025
start: 10 15 107 21 15 42
data:
$ID,128
$MISSION,2
$DIVE,1025
$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,-94388.656
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,205345,4806.144,-12222.243,11,1.3,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-64.2
$GPS2,211445,4806.390,-12222.461,13,1.3,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.177
$KALMAN_X,-15698.9,-194.4,-123.9,16473.2,-127.4
$KALMAN_Y,-3257.8,244.9,142.3,2828.9,98.7
$MHEAD_RNG_PITCHd_Wd,120.0,921,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,36,-0.96,-146.6,0.0,0.0,0,102,0.00,0.00,-64.07,0.000,2,0.000,0.000,21,2348,1919
$GC,108,-0.96,-146.6,3.0,-1.3,12,170,9.98,2.28,-44.47,0.000,4,0.202,0.047,2464,945,3100
$GC,197,-0.96,-146.6,7.0,-9.0,27,203,0.00,2.28,0.00,0.000,6,0.000,0.033,2456,2352,3101
$GC,275,-0.96,-146.6,15.7,-11.5,40,281,0.00,2.33,0.00,0.000,4,0.000,0.046,2446,3745,3102
$GC,319,-0.96,-146.6,21.0,-12.3,47,325,0.00,2.20,0.00,0.000,6,0.000,0.026,2446,2325,3102
$GC,534,-0.96,-146.6,45.7,-11.3,84,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2324,3102
$GC,736,-0.96,-146.6,68.2,-11.2,106,740,0.00,2.38,0.00,0.000,4,0.000,0.045,2436,3754,3102
$GC,772,-0.96,-146.6,72.6,-12.1,108,779,0.08,2.20,0.00,0.000,6,0.123,0.026,2461,2345,3102
$STATE,1078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1090,-0.28,0.0,105.0,10.7,137,1208,0.70,0.00,114.60,0.737,6,0.107,0.000,2682,2148,2500
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1209,begin climb
$GC,1214,0.96,146.6,110.6,0.0,149,1331,1.23,0.00,112.85,0.691,6,0.074,0.000,3088,2148,1902
$GC,1648,0.96,146.6,81.0,7.9,190,1652,0.00,2.33,0.00,0.000,4,0.000,0.042,3088,3559,1900
$GC,1697,0.96,146.6,76.7,9.1,194,1701,0.00,2.22,0.00,0.000,6,0.000,0.026,3098,2151,1900
$GC,2031,0.96,146.6,49.3,8.3,224,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2151,1900
$GC,2247,0.96,146.6,31.9,7.7,261,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2150,1900
$GC,2463,0.96,146.6,15.2,7.8,298,2469,0.00,2.25,0.00,0.000,4,0.000,0.038,3109,750,1899
$GC,2501,0.97,148.2,12.0,7.5,304,2508,0.00,2.28,0.00,0.000,6,0.000,0.031,3108,2158,1899
$GC,2580,1.00,175.5,6.6,6.6,317,2609,0.00,2.30,23.38,0.759,4,0.000,0.043,3108,3552,1783
$STATE,2648,end climb,SURFACE_DEPTH_REACHED
$STATE,2648,begin surface coast
$FINISH,2.7,1.021485
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2688,197.15,0.640,0,0,204,563.21
$SM_GC,2.31,8.95,0.00,0.00,0.042,0.000,0.000,21,2345,195,-8.56,-0.14,565.42
$IRIDIUM_FIX,4748.51,-12224.57,161007,010154
$TT8_MAMPS,0.026078
$HUMID,1850
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,45.0
$24V_AH,23.9,98.638
$10V_AH,10.7,46.161
$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,20.925,27.250,250.825,197.150,0.000,142.808,243.796,464.024,0.500,0.000,0.000,14.730,527.501,1443.096,519.579,644.633,1137.093,33.352,865.539,0.000,663.451,0.000,2.517
$DEVICE_MAMPS,201.721,46.787,759.330,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.792,257.313,565.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16028,335
$CFSIZE,260165632,229908480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151007,220725,4806.235,-12222.318,39,1.0,56,18.3