version: 66.03
glider: 128
mission: 2
dive: 707
start: 10 4 107 1 47 47
data:
$ID,128
$MISSION,2
$DIVE,707
$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,67
$T_MISSION,80
$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,45
$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,475
$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,-75735.586
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$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
$GPS1,014204,4806.330,-12222.520,13,2.8,32,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-61.6
$GPS2,014650,4806.353,-12222.511,12,1.6,12,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.156
$KALMAN_X,-39122.1,-647.9,59.2,40997.8,-79.2
$KALMAN_Y,-16187.6,877.0,-12.3,12905.9,-58.7
$MHEAD_RNG_PITCHd_Wd,117.6,3126,-11.0,-5.970
$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,33,-0.79,-146.6,0.0,0.0,0,106,0.00,0.00,-69.80,0.000,2,0.000,0.000,22,2358,2247
$GC,111,-0.79,-146.6,3.2,-1.6,13,157,9.98,2.33,-28.17,0.000,4,0.205,0.045,2482,955,2999
$GC,264,-0.79,-146.6,13.0,-7.0,39,270,0.00,2.28,0.00,0.000,6,0.000,0.034,2476,2355,3002
$GC,340,-0.79,-146.6,20.3,-9.9,52,347,0.00,2.35,0.00,0.000,4,0.000,0.050,2466,3748,3002
$GC,510,-0.79,-146.6,27.6,-3.2,81,517,0.00,2.20,0.00,0.000,6,0.000,0.026,2466,2328,3002
$GC,723,-0.79,-146.6,37.1,-5.7,118,729,0.00,2.38,0.00,0.000,4,0.000,0.048,2458,3755,3002
$GC,771,-0.79,-146.6,40.4,-6.9,126,777,0.00,2.17,0.00,0.000,6,0.000,0.026,2458,2346,3002
$GC,983,-0.79,-146.6,57.3,-8.4,156,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2346,3002
$GC,1301,-0.79,-146.6,86.9,-10.0,186,1305,0.00,2.35,0.00,0.000,4,0.000,0.049,2449,3762,3002
$GC,1353,-0.79,-146.6,92.2,-10.7,190,1358,0.12,2.17,0.00,0.000,6,0.128,0.026,2481,2351,3002
$STATE,1495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1495,begin apogee
$GC,1504,-0.28,0.0,105.3,8.6,203,1622,0.50,0.00,112.57,0.742,6,0.107,0.000,2641,2196,2400
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1623,begin climb
$GC,1627,0.79,146.6,109.9,0.0,215,1746,1.08,2.45,112.03,0.697,4,0.084,0.044,2989,3608,1801
$GC,1765,0.79,146.6,104.0,6.8,228,1771,0.00,2.28,0.00,0.000,6,0.000,0.026,2999,2213,1800
$GC,2096,0.79,146.6,81.1,6.9,259,2100,0.00,2.35,0.00,0.000,4,0.000,0.046,2998,3612,1799
$GC,2137,0.79,146.6,77.5,8.0,262,2141,0.00,2.25,0.00,0.000,6,0.000,0.027,3007,2196,1799
$GC,2468,0.79,146.6,53.1,7.4,292,2472,0.00,2.22,0.00,0.000,4,0.000,0.036,3014,804,1799
$GC,2486,0.79,146.6,51.4,7.7,293,2491,0.00,2.25,0.00,0.000,6,0.000,0.031,3014,2212,1798
$GC,2834,0.79,146.6,24.7,6.4,352,2840,0.00,2.30,0.00,0.000,4,0.000,0.047,3014,3608,1798
$GC,2956,0.83,180.2,18.1,5.0,373,2990,0.00,2.22,26.80,0.747,6,0.000,0.027,3023,2193,1664
$GC,3060,0.93,257.7,13.9,3.8,391,3128,0.00,2.33,58.60,0.683,4,0.000,0.035,3028,815,1347
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3319,begin surface coast
$FINISH,1.6,1.011272
$STATE,3443,end surface coast,CONTROL_FINISHED_OK
$STATE,3443,begin surface
$SM_CCo,3468,120.05,0.660,0,0,463,475.15
$SM_GC,2.43,0.00,0.00,120.05,0.000,0.000,0.660,21,2352,463,-8.50,0.06,475.15
$IRIDIUM_FIX,4748.51,-12221.84,041007,040436
$TT8_MAMPS,0.026845
$HUMID,1864
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.6,42.8
$24V_AH,24.3,63.739
$10V_AH,10.7,32.210
$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,20.250,41.575,310.000,120.050,0.000,29.261,11.818,124.934,0.750,0.000,0.000,13.971,714.029,1411.367,475.680,889.760,397.023,33.360,924.160,0.000,906.164,0.000,7.074
$DEVICE_MAMPS,204.789,49.855,747.058,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,325.383,347.926,772.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,458
$CFSIZE,260165632,238145536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,024827,4806.147,-12222.399,10,1.7,10,18.3