version: 66.03
glider: 128
mission: 2
dive: 718
start: 10 4 107 13 53 33
data:
$ID,128
$MISSION,2
$DIVE,718
$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,-75978.539
$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,56
$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,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
$GPS1,134509,4805.146,-12221.153,10,1.5,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-67.1
$GPS2,135237,4805.208,-12221.188,8,1.7,24,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.159
$KALMAN_X,-44203.2,97.7,98.8,46929.7,-262.5
$KALMAN_Y,-11162.6,-259.1,-114.4,6994.7,192.7
$MHEAD_RNG_PITCHd_Wd,121.0,450,-11.5,-5.970
$D_GRID,108
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.81,-135.8,0.0,0.0,0,81,0.00,0.00,-48.28,0.000,2,0.000,0.000,14,2340,1522
$GC,85,-0.82,-146.6,3.0,-1.5,9,149,9.93,2.42,-44.38,0.000,4,0.202,0.061,2461,3740,2999
$GC,174,-0.82,-146.6,9.5,-8.8,24,180,0.00,2.20,0.00,0.000,6,0.000,0.026,2461,2322,3001
$GC,250,-0.82,-146.6,19.0,-12.4,37,257,0.00,2.17,0.00,0.000,4,0.000,0.032,2461,979,3001
$GC,321,-0.82,-146.6,26.5,-10.1,49,328,0.00,2.25,0.00,0.000,6,0.000,0.033,2456,2348,3001
$GC,534,-0.82,-146.6,46.1,-8.7,86,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2348,3001
$GC,741,-0.82,-146.6,64.5,-8.8,109,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2348,3001
$GC,1063,-0.82,-146.6,93.3,-8.9,139,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2348,3001
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1236,-0.28,0.0,109.1,9.2,155,1353,0.60,0.00,112.78,0.748,6,0.106,0.000,2647,2203,2399
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1358,0.82,146.6,113.5,0.0,167,1477,1.08,0.00,111.97,0.703,6,0.077,0.000,3000,2203,1801
$GC,1796,0.82,146.6,84.7,7.5,209,1800,0.00,2.35,0.00,0.000,4,0.000,0.044,3000,3617,1798
$GC,1827,0.82,146.6,82.4,8.5,211,1833,0.00,2.22,0.00,0.000,6,0.000,0.026,3008,2207,1798
$GC,2157,0.82,146.6,58.5,7.1,242,2161,0.00,2.33,0.00,0.000,4,0.000,0.044,3008,3613,1798
$GC,2187,0.82,146.6,55.9,8.2,244,2193,0.00,2.22,0.00,0.000,6,0.000,0.027,3012,2195,1798
$GC,2529,0.82,146.6,31.2,7.2,298,2536,0.00,2.33,0.00,0.000,4,0.000,0.044,3013,3606,1798
$GC,2583,0.82,146.6,26.9,7.9,307,2589,0.00,2.20,0.00,0.000,6,0.000,0.026,3022,2199,1798
$GC,2796,0.88,191.1,13.6,4.6,344,2836,0.00,2.33,34.62,0.729,4,0.000,0.035,3025,799,1618
$GC,2917,1.01,301.3,9.4,2.7,365,3007,0.12,2.28,83.05,0.673,6,0.061,0.030,3090,2218,1170
$GC,3079,1.28,517.2,5.2,-0.5,393,3220,0.15,0.00,136.75,0.646,2,0.056,0.000,3167,2218,425
$STATE,3220,end climb,SURFACE_DEPTH_REACHED
$STATE,3221,begin surface coast
$FINISH,1.5,1.019068
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3373,0.00,0.000,0,0,414,487.17
$SM_GC,2.71,9.12,0.00,0.00,0.043,0.000,0.000,21,2350,414,-8.44,0.00,487.17
$IRIDIUM_FIX,4748.51,-12221.84,041007,171715
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,83.9,42.4
$24V_AH,24.3,64.848
$10V_AH,10.7,32.802
$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,21.000,27.675,479.175,0.000,0.000,52.112,27.689,148.486,1.000,0.000,0.000,29.319,616.000,1444.099,455.215,836.449,476.773,33.353,920.529,0.000,841.119,0.000,6.919
$DEVICE_MAMPS,202.488,60.593,747.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.431,322.753,726.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,430
$CFSIZE,260165632,237821952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,145033,4804.992,-12221.043,10,1.7,10,18.3
$RESTART_TIME,Thu Oct  4 15:30:54 2007