version: 66.03
glider: 128
mission: 2
dive: 781
start: 10 7 107 5 40 20
data:
$ID,128
$MISSION,2
$DIVE,781
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,28
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,180
$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,530
$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,-83851.203
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,053533,4809.810,-12225.812,8,1.2,8,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.9
$GPS2,053956,4809.855,-12225.879,13,1.4,13,18.4
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,4759.056,-12225.879
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.182,-0.186
$KALMAN_X,-80.8,-80.8,-80.8,31.2,-149.4
$KALMAN_Y,77.3,77.3,77.3,-128.7,142.9
$MHEAD_RNG_PITCHd_Wd,161.6,20000,-18.2,-10.000
$D_GRID,59
$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,34,begin dive
$GC,39,-1.19,-146.6,0.0,0.0,0,84,0.00,0.00,-42.70,0.000,2,0.000,0.000,15,2360,1435
$GC,89,-1.19,-146.6,3.2,-2.9,8,146,9.43,2.38,-38.22,0.000,4,0.203,0.048,2349,939,3001
$GC,335,-1.19,-146.6,36.6,-12.9,51,342,0.00,2.33,0.00,0.000,6,0.000,0.037,2341,2352,3003
$STATE,396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,396,begin apogee
$GC,406,-0.28,0.0,45.7,13.4,62,527,1.00,0.00,112.05,0.687,6,0.124,0.000,2643,2178,2400
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,532,1.19,146.6,51.3,0.0,80,651,1.45,2.40,110.70,0.646,4,0.079,0.041,3127,807,1801
$GC,671,1.21,158.6,42.9,9.5,101,689,0.00,2.35,10.77,0.591,6,0.000,0.035,3126,2198,1752
$GC,896,1.21,158.6,17.9,11.1,140,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2199,1752
$GC,972,1.38,297.7,11.6,3.6,153,1084,0.15,2.45,104.10,0.654,4,0.063,0.049,3199,3611,1184
$GC,1139,1.57,454.4,9.0,2.8,182,1266,0.10,2.30,120.28,0.626,6,0.071,0.028,3254,2205,547
$STATE,1322,end climb,SURFACE_DEPTH_REACHED
$STATE,1323,begin surface coast
$FINISH,1.6,1.011413
$STATE,1374,end surface coast,CONTROL_FINISHED_OK
$STATE,1374,begin surface
$SM_CCo,1399,57.95,0.647,0,0,239,530.09
$SM_GC,2.20,0.00,0.00,57.95,0.000,0.000,0.647,21,2368,239,-8.50,0.51,530.09
$IRIDIUM_FIX,4751.72,-12228.02,071007,090904
$TT8_MAMPS,0.026845
$HUMID,1827
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,27.3,6.3
$24V_AH,24.2,71.480
$10V_AH,10.7,35.870
$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,21.450,14.725,457.900,57.950,0.000,22.741,12.535,106.317,0.500,0.000,0.000,14.921,290.624,249.851,456.209,433.059,307.660,0.000,771.751,0.000,446.426,0.000,2.464
$DEVICE_MAMPS,203.255,49.088,687.232,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,163.224,157.733,378.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9688,224
$CFSIZE,260165632,236150784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,060601,4809.831,-12225.933,31,0.9,41,18.4