version: 66.03
glider: 128
mission: 2
dive: 726
start: 10 4 107 21 58 52
data:
$ID,128
$MISSION,2
$DIVE,726
$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,-76320.297
$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,61
$R_STBD_OVSHOOT,39
$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
$GPS1,215259,4805.732,-12221.827,11,3.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-67.9
$GPS2,215756,4805.747,-12221.850,33,1.3,33,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.151
$KALMAN_X,-625.9,-343.6,-126.9,1482.1,-126.0
$KALMAN_Y,359.3,338.4,182.5,-2574.8,-32.1
$MHEAD_RNG_PITCHd_Wd,116.0,1738,-11.0,-5.970
$D_GRID,110
$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,-146.6,0.0,0.0,0,95,0.00,0.00,-59.00,0.000,2,0.000,0.000,18,2355,1788
$GC,100,-0.79,-146.6,3.2,-1.5,11,157,9.88,2.30,-38.03,0.000,4,0.201,0.044,2481,959,3000
$GC,238,-0.79,-146.6,13.9,-9.4,35,245,0.00,2.28,0.00,0.000,6,0.000,0.033,2481,2358,3002
$GC,315,-0.79,-146.6,20.5,-8.7,48,322,0.00,2.28,0.00,0.000,4,0.000,0.031,2481,955,3002
$GC,352,-0.79,-146.6,23.7,-8.4,54,359,0.00,2.28,0.00,0.000,6,0.000,0.033,2481,2344,3002
$GC,565,-0.79,-146.6,41.3,-8.1,91,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2344,3002
$GC,776,-0.79,-146.6,59.3,-8.8,119,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2344,3003
$GC,1096,-0.79,-146.6,86.2,-8.5,149,1100,0.00,2.33,0.00,0.000,4,0.000,0.049,2479,3762,3003
$GC,1132,-0.79,-146.6,89.4,-8.6,152,1136,0.00,2.20,0.00,0.000,6,0.000,0.025,2479,2332,3003
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1390,begin apogee
$GC,1400,-0.28,0.0,110.4,7.8,176,1517,0.52,0.00,112.80,0.747,6,0.109,0.000,2644,2197,2399
$STATE,1518,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1523,0.79,146.6,114.9,0.0,188,1644,1.05,2.53,112.18,0.704,4,0.081,0.043,2986,3613,1801
$GC,1675,0.79,146.6,108.4,7.5,203,1679,0.00,2.30,0.00,0.000,6,0.000,0.025,2995,2203,1800
$GC,2005,0.79,146.6,84.9,7.1,233,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2201,1800
$GC,2331,0.79,146.6,61.7,7.2,264,2335,0.00,2.33,0.00,0.000,4,0.000,0.044,2995,3610,1799
$GC,2390,0.79,146.6,57.0,8.0,269,2394,0.00,2.22,0.00,0.000,6,0.000,0.026,3003,2195,1800
$GC,2733,0.79,146.6,33.0,6.5,320,2739,0.00,2.35,0.00,0.000,4,0.000,0.044,3003,3616,1799
$GC,2792,0.79,146.6,28.4,7.5,330,2799,0.00,2.25,0.00,0.000,6,0.000,0.026,3011,2200,1799
$GC,3005,0.79,146.6,13.9,6.6,367,3011,0.00,2.22,0.00,0.000,4,0.000,0.035,3019,800,1799
$GC,3042,0.79,146.6,11.6,6.1,373,3048,0.00,2.28,0.00,0.000,6,0.000,0.031,3019,2210,1799
$GC,3119,0.84,189.2,7.7,4.8,386,3158,0.00,0.00,33.17,0.736,6,0.000,0.000,3019,2210,1626
$GC,3228,1.02,334.1,4.4,2.0,405,3335,0.15,2.40,97.40,0.667,4,0.059,0.034,3101,804,1035
$STATE,3487,end climb,NO_VERTICAL_VELOCITY
$STATE,3487,begin surface
$SM_CCo,3493,101.95,0.653,0,0,204,538.68
$SM_GC,2.41,8.93,0.00,0.00,0.039,0.000,0.000,16,2365,194,-8.45,0.45,541.13
$IRIDIUM_FIX,4748.51,-12227.28,051007,000018
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,47.0
$24V_AH,24.3,65.516
$10V_AH,10.7,33.125
$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,20.525,37.300,355.550,101.950,0.000,30.614,18.135,106.832,1.000,0.000,0.000,34.863,680.256,1564.975,495.067,890.262,384.460,33.324,950.002,0.000,887.417,0.000,6.948
$DEVICE_MAMPS,200.954,49.088,747.058,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.129,341.292,761.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22237,451
$CFSIZE,260165632,237654016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,230201,4805.395,-12221.547,41,1.5,41,18.3