version: 66.03
glider: 128
mission: 2
dive: 1032
start: 10 16 107 4 27 33
data:
$ID,128
$MISSION,2
$DIVE,1032
$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,-94514.773
$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,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
$GPS1,042047,4806.197,-12222.384,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.9
$GPS2,042637,4806.271,-12222.448,33,1.0,38,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.170
$KALMAN_X,-18126.3,-550.1,-110.8,19256.5,-114.6
$KALMAN_Y,-587.8,681.9,141.2,-489.6,159.6
$MHEAD_RNG_PITCHd_Wd,117.5,749,-14.1,-7.547
$D_GRID,107
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-53.45,0.000,2,0.000,0.000,14,2355,1638
$GC,102,-0.96,-146.6,3.0,-1.7,10,170,9.82,2.33,-51.53,0.000,4,0.195,0.058,2454,3749,3099
$GC,207,-0.96,-146.6,8.7,-9.2,28,214,0.00,2.22,0.00,0.000,6,0.000,0.026,2454,2318,3100
$GC,286,-0.96,-146.6,16.5,-10.0,41,292,0.00,2.15,0.00,0.000,4,0.000,0.034,2454,974,3101
$GC,376,-0.96,-146.6,25.8,-10.7,56,382,0.00,2.22,0.00,0.000,6,0.000,0.034,2448,2348,3101
$GC,591,-0.96,-146.6,48.7,-10.2,93,597,0.00,2.33,0.00,0.000,4,0.000,0.048,2438,3755,3101
$GC,646,-0.96,-146.6,55.0,-11.2,98,653,0.12,2.17,0.00,0.000,6,0.128,0.026,2469,2342,3101
$GC,974,-0.96,-146.6,87.8,-10.2,129,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2342,3101
$STATE,1169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1169,begin apogee
$GC,1182,-0.28,0.0,107.6,10.1,148,1300,0.68,0.00,114.62,0.739,6,0.107,0.000,2683,2151,2500
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1306,0.96,146.6,113.1,0.0,160,1423,1.20,0.00,112.82,0.693,6,0.074,0.000,3082,2150,1901
$GC,1740,0.96,146.6,84.8,7.7,201,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2150,1899
$GC,2068,0.96,146.6,59.9,7.6,232,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2150,1899
$GC,2411,0.96,146.6,34.5,7.6,281,2417,0.00,2.33,0.00,0.000,4,0.000,0.043,3082,3554,1899
$GC,2455,0.96,146.6,30.8,8.5,288,2462,0.00,2.22,0.00,0.000,6,0.000,0.027,3093,2157,1899
$GC,2671,1.01,180.8,16.0,6.4,325,2705,0.00,2.33,28.00,0.749,4,0.000,0.042,3093,3554,1761
$GC,2754,1.01,180.8,9.7,9.2,339,2761,0.00,2.22,0.00,0.000,6,0.000,0.026,3103,2153,1760
$GC,2833,1.10,260.1,4.9,4.8,352,2901,0.00,2.42,58.50,0.680,4,0.000,0.041,3102,3551,1438
$GC,3211,1.40,502.7,3.2,-0.9,418,3247,0.35,2.22,30.58,0.701,2,0.041,0.025,3253,2136,1217
$STATE,3248,end climb,NO_VERTICAL_VELOCITY
$STATE,3248,begin surface
$SM_CCo,3254,131.93,0.626,0,0,203,563.21
$SM_GC,2.27,9.40,0.00,0.00,0.044,0.000,0.000,16,2364,194,-8.58,0.40,565.66
$IRIDIUM_FIX,4748.51,-12224.57,161007,070711
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,47.6
$24V_AH,23.9,99.406
$10V_AH,10.7,46.517
$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,21.575,27.800,344.525,131.925,0.000,22.974,48.081,111.177,1.250,0.000,0.000,39.724,631.401,1420.581,513.302,836.115,458.211,33.347,942.507,0.000,828.090,0.000,5.486
$DEVICE_MAMPS,194.818,58.292,749.359,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.380,321.296,715.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22225,424
$CFSIZE,260165632,229715968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,052645,4806.041,-12222.193,7,1.8,7,18.3