version: 66.03
glider: 128
mission: 2
dive: 1031
start: 10 16 107 3 28 24
data:
$ID,128
$MISSION,2
$DIVE,1031
$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,-94474.414
$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,61
$R_STBD_OVSHOOT,41
$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
$GPS1,031901,4806.287,-12222.373,35,1.2,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-67.4
$GPS2,032727,4806.402,-12222.499,13,1.2,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.191
$KALMAN_X,-17799.0,-532.1,-153.7,18891.2,-129.7
$KALMAN_Y,-847.1,670.3,128.8,34.4,220.1
$MHEAD_RNG_PITCHd_Wd,125.6,968,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,40,-0.96,-146.6,0.0,0.0,0,101,0.00,0.00,-58.58,0.000,2,0.000,0.000,21,2359,1826
$GC,107,-0.96,-146.6,3.3,-2.2,11,163,10.05,0.00,-40.65,0.000,6,0.204,0.000,2466,2359,3098
$GC,234,-0.96,-146.6,13.0,-10.4,33,241,0.00,2.33,0.00,0.000,4,0.000,0.047,2457,3741,3099
$GC,440,-0.96,-146.6,35.4,-11.0,68,447,0.00,2.15,0.00,0.000,6,0.000,0.026,2457,2338,3100
$GC,654,-0.96,-146.6,58.2,-10.7,99,658,0.00,2.35,0.00,0.000,4,0.000,0.047,2446,3748,3100
$GC,697,-0.96,-146.6,63.1,-11.7,102,701,0.00,2.17,0.00,0.000,6,0.000,0.026,2447,2342,3100
$GC,1030,-0.96,-146.6,100.0,-11.0,132,1034,0.00,2.20,0.00,0.000,4,0.000,0.034,2447,964,3100
$GC,1065,-0.96,-146.6,104.7,-11.1,134,1071,0.00,2.22,0.00,0.000,6,0.000,0.035,2440,2350,3100
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1092,-0.28,0.0,106.7,11.2,136,1210,0.77,0.00,114.43,0.736,6,0.110,0.000,2682,2149,2500
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1216,0.96,146.6,111.8,0.0,148,1341,1.20,2.47,112.70,0.691,4,0.074,0.042,3083,3553,1900
$GC,1377,0.96,146.6,105.5,8.2,162,1384,0.00,2.25,0.00,0.000,6,0.000,0.026,3093,2157,1900
$GC,1710,0.96,146.6,77.7,8.5,193,1714,0.00,2.28,0.00,0.000,4,0.000,0.038,3102,750,1899
$GC,1758,0.96,146.6,73.5,8.0,197,1762,0.00,2.25,0.00,0.000,6,0.000,0.031,3102,2154,1899
$GC,2090,0.96,146.6,46.7,8.1,230,2097,0.00,2.30,0.00,0.000,4,0.000,0.044,3102,3554,1899
$GC,2151,0.96,146.6,41.5,8.7,240,2157,0.00,2.25,0.00,0.000,6,0.000,0.028,3112,2150,1898
$GC,2367,0.97,151.5,24.2,7.4,277,2378,0.00,0.00,5.55,0.662,6,0.000,0.000,3112,2150,1881
$GC,2587,1.01,185.3,7.8,6.4,315,2621,0.00,2.30,27.27,0.733,4,0.000,0.038,3122,750,1743
$GC,2648,1.17,314.8,5.9,3.1,325,2737,0.10,2.28,82.20,0.644,6,0.072,0.031,3168,2161,1215
$GC,2811,1.45,542.4,2.8,-0.3,353,2852,0.20,0.00,38.22,0.659,2,0.050,0.000,3263,2160,941
$STATE,2853,end climb,NO_VERTICAL_VELOCITY
$STATE,2853,begin surface
$SM_CCo,2859,93.00,0.617,0,0,204,563.21
$SM_GC,2.32,9.43,0.00,0.00,0.043,0.000,0.000,14,2354,195,-8.58,0.11,565.42
$IRIDIUM_FIX,4748.51,-12221.84,161007,070728
$TT8_MAMPS,0.026078
$HUMID,1865
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,46.5
$24V_AH,23.9,99.304
$10V_AH,10.7,46.463
$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,21.750,32.375,380.375,93.000,0.000,61.074,26.611,209.888,0.250,0.000,0.000,14.590,542.096,1249.459,485.345,715.120,589.926,33.342,894.365,0.000,730.105,0.000,2.519
$DEVICE_MAMPS,204.022,46.787,735.553,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.524,270.215,606.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19139,360
$CFSIZE,260165632,229744640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161007,042047,4806.197,-12222.384,12,2.3,31,18.3