version: 66.03
glider: 128
mission: 2
dive: 1033
start: 10 16 107 5 33 11
data:
$ID,128
$MISSION,2
$DIVE,1033
$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,-94532.117
$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,62
$R_STBD_OVSHOOT,43
$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
$GPS1,052645,4806.041,-12222.193,7,1.8,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-66.5
$GPS2,053214,4806.089,-12222.247,15,1.5,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.063
$KALMAN_X,-18390.3,-539.9,-66.3,19713.2,-85.9
$KALMAN_Y,-426.1,664.9,142.5,-972.4,12.4
$MHEAD_RNG_PITCHd_Wd,96.2,347,-23.9,-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,35,begin dive
$GC,40,-1.39,-54.9,0.0,0.0,0,101,0.00,0.00,-58.60,0.000,2,0.000,0.000,16,2365,1765
$GC,107,-1.47,-114.1,3.2,-2.1,11,165,9.32,2.40,-42.30,0.000,4,0.200,0.057,2295,3755,2968
$GC,219,-1.47,-114.1,12.8,-14.8,30,225,0.00,2.22,0.00,0.000,6,0.000,0.026,2295,2330,2970
$GC,298,-1.47,-114.1,24.6,-15.3,43,304,0.00,2.35,0.00,0.000,4,0.000,0.046,2284,3747,2970
$GC,332,-1.47,-114.1,30.0,-16.5,48,338,0.00,2.17,0.00,0.000,6,0.000,0.026,2284,2343,2970
$GC,539,-1.47,-114.1,64.1,-16.3,77,543,0.00,2.20,0.00,0.000,4,0.000,0.034,2284,965,2970
$GC,663,-1.47,-114.1,84.7,-16.6,87,667,0.12,2.22,0.00,0.000,6,0.161,0.035,2303,2353,2970
$STATE,799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,799,begin apogee
$GC,811,-0.28,0.0,107.9,16.5,100,908,1.27,0.00,90.30,0.740,6,0.129,0.000,2684,2149,2499
$STATE,909,end apogee,CONTROL_FINISHED_OK
$STATE,909,begin climb
$GC,915,1.47,114.1,113.3,0.0,110,1012,1.67,0.00,88.45,0.695,6,0.070,0.000,3246,2149,2032
$GC,1333,1.47,114.1,73.5,11.2,150,1337,0.00,2.22,0.00,0.000,4,0.000,0.038,3256,765,2031
$GC,1477,1.47,114.1,57.5,11.0,162,1483,0.00,2.22,0.00,0.000,6,0.000,0.031,3257,2158,2031
$GC,1822,1.47,114.1,21.7,9.9,217,1828,0.00,2.28,0.00,0.000,4,0.000,0.038,3266,757,2030
$GC,1872,1.47,114.1,17.2,9.1,225,1878,0.00,2.25,0.00,0.000,6,0.000,0.031,3266,2161,2031
$GC,1950,1.47,114.1,10.6,9.0,238,1956,0.00,2.28,0.00,0.000,4,0.000,0.044,3266,3552,2031
$GC,2113,1.60,226.6,7.2,-2.8,266,2208,0.00,2.20,85.10,0.684,6,0.000,0.027,3276,2155,1575
$GC,2284,1.73,329.2,3.7,-1.9,295,2358,0.15,2.42,64.00,0.657,4,0.063,0.043,3345,3550,1156
$STATE,2597,end climb,NO_VERTICAL_VELOCITY
$STATE,2597,begin surface
$SM_CCo,2603,110.45,0.644,0,0,203,563.21
$SM_GC,2.48,9.52,0.00,0.00,0.037,0.000,0.000,13,2332,194,-8.58,-0.51,565.66
$IRIDIUM_FIX,4751.72,-12414.54,161007,080820
$TT8_MAMPS,0.026078
$HUMID,1873
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,43.9
$24V_AH,23.9,99.500
$10V_AH,10.7,46.563
$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,22.075,31.700,327.850,110.450,0.000,25.783,36.302,117.715,0.750,0.000,0.000,16.718,529.619,1024.730,472.345,702.330,439.697,33.345,859.356,0.000,716.501,0.000,5.477
$DEVICE_MAMPS,200.187,56.758,740.155,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.441,258.690,590.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15900,350
$CFSIZE,260165632,229699584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,062135,4805.999,-12222.035,8,2.7,27,18.3