version: 66.03
glider: 128
mission: 2
dive: 724
start: 10 4 107 19 44 15
data:
$ID,128
$MISSION,2
$DIVE,724
$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,-76269.688
$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,67
$R_STBD_OVSHOOT,37
$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
$GPS1,193837,4806.311,-12222.059,29,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.8
$GPS2,194320,4806.348,-12222.081,9,1.1,15,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.184
$KALMAN_X,-202.6,-179.5,-158.5,638.1,-169.5
$KALMAN_Y,248.9,225.3,202.7,-1259.9,207.8
$MHEAD_RNG_PITCHd_Wd,129.8,2832,-11.0,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,89,0.00,0.00,-53.38,0.000,2,0.000,0.000,16,2331,1650
$GC,94,-0.79,-146.6,3.0,-1.3,10,151,9.85,0.00,-42.28,0.000,6,0.199,0.000,2482,2330,2999
$GC,221,-0.79,-146.6,12.0,-8.1,32,228,0.00,2.40,0.00,0.000,4,0.000,0.048,2472,3759,3001
$GC,377,-0.79,-146.6,26.0,-8.8,59,383,0.00,2.20,0.00,0.000,6,0.000,0.026,2472,2346,3002
$GC,589,-0.79,-146.6,44.8,-8.6,96,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2346,3002
$GC,792,-0.79,-146.6,62.4,-8.5,120,796,0.00,2.35,0.00,0.000,4,0.000,0.048,2464,3756,3002
$GC,822,-0.79,-146.6,65.2,-9.0,122,826,0.00,2.17,0.00,0.000,6,0.000,0.026,2464,2347,3002
$GC,1149,-0.79,-146.6,93.3,-8.7,152,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2346,3002
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1324,-0.28,0.0,108.1,8.5,168,1442,0.57,0.00,112.72,0.753,6,0.108,0.000,2646,2195,2399
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1447,0.79,146.6,112.3,0.0,180,1564,1.05,0.00,112.00,0.707,6,0.081,0.000,2987,2194,1802
$GC,1884,0.79,146.6,85.9,6.7,222,1888,0.00,2.35,0.00,0.000,4,0.000,0.044,2986,3609,1799
$GC,1924,0.79,146.6,82.8,7.7,225,1930,0.00,2.22,0.00,0.000,6,0.000,0.026,2995,2200,1799
$GC,2255,0.79,146.6,60.0,7.2,256,2259,0.00,2.33,0.00,0.000,4,0.000,0.044,2995,3604,1799
$GC,2290,0.79,146.6,56.9,7.6,258,2296,0.00,2.20,0.00,0.000,6,0.000,0.026,3003,2199,1799
$GC,2630,0.79,146.6,33.9,6.7,310,2637,0.00,2.22,0.00,0.000,4,0.000,0.035,3011,802,1799
$GC,2651,0.79,146.6,32.5,6.6,313,2657,0.00,2.25,0.00,0.000,6,0.000,0.031,3011,2215,1800
$GC,2863,0.79,146.6,18.0,6.6,350,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2216,1799
$GC,2941,0.80,156.9,13.4,5.7,363,2953,0.00,0.00,9.73,0.784,6,0.000,0.000,3010,2215,1759
$GC,3023,0.85,193.5,8.9,5.0,377,3057,0.00,0.00,28.60,0.719,6,0.000,0.000,3010,2215,1610
$GC,3128,0.98,298.7,5.2,3.1,395,3213,0.12,2.42,78.72,0.674,4,0.064,0.034,3076,802,1181
$STATE,3370,end climb,NO_VERTICAL_VELOCITY
$STATE,3370,begin surface
$SM_CCo,3375,126.25,0.654,0,0,204,538.68
$SM_GC,2.32,8.90,0.00,0.00,0.041,0.000,0.000,13,2351,194,-8.46,0.03,541.13
$IRIDIUM_FIX,4748.51,-12224.57,041007,222239
$TT8_MAMPS,0.026078
$HUMID,1822
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,83.2,54.9
$24V_AH,24.2,65.318
$10V_AH,10.7,33.015
$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,20.500,27.900,341.775,126.250,0.000,29.821,12.181,117.591,0.500,0.000,0.000,16.988,666.861,1514.677,503.595,837.359,388.853,31.410,935.841,0.000,857.628,0.000,4.079
$DEVICE_MAMPS,199.420,48.321,783.874,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.929,335.778,739.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22301,438
$CFSIZE,260165632,237715456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,204521,4806.051,-12221.956,9,1.6,9,18.3