version: 66.03
glider: 128
mission: 2
dive: 701
start: 10 3 107 19 20 42
data:
$ID,128
$MISSION,2
$DIVE,701
$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,-75633.359
$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,54
$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
$GPS1,191501,4807.719,-12223.627,37,1.6,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.1
$GPS2,191945,4807.762,-12223.654,14,1.1,14,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,-0.182
$KALMAN_X,-38169.6,-228.1,-152.4,38425.2,-196.4
$KALMAN_Y,-16465.6,-2.4,58.6,16597.7,304.0
$MHEAD_RNG_PITCHd_Wd,128.9,6078,-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,-146.6,0.0,0.0,0,95,0.00,0.00,-59.00,0.000,2,0.000,0.000,8,2353,2019
$GC,100,-0.79,-146.6,3.2,-1.8,11,146,10.00,2.42,-30.73,0.000,4,0.204,0.061,2471,3752,3000
$GC,166,-0.79,-146.6,7.6,-5.2,22,172,0.00,2.22,0.00,0.000,6,0.000,0.026,2471,2330,3001
$GC,243,-0.79,-146.6,15.7,-10.5,35,249,0.00,2.17,0.00,0.000,4,0.000,0.032,2471,971,3002
$GC,314,-0.79,-146.6,21.9,-8.7,47,320,0.00,2.25,0.00,0.000,6,0.000,0.033,2468,2357,3002
$GC,528,-0.79,-146.6,41.1,-9.3,84,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2357,3003
$GC,738,-0.79,-146.6,60.9,-9.2,111,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2358,3003
$GC,1055,-0.79,-146.6,89.3,-9.0,141,1059,0.00,2.20,0.00,0.000,4,0.000,0.031,2469,972,3003
$GC,1108,-0.79,-146.6,94.2,-9.3,145,1112,0.00,2.22,0.00,0.000,6,0.000,0.034,2469,2354,3003
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1239,-0.28,0.0,105.4,8.9,156,1356,0.55,0.00,112.25,0.741,6,0.105,0.000,2643,2194,2400
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1360,0.79,146.6,109.9,0.0,168,1478,1.05,0.00,111.72,0.692,6,0.081,0.000,2985,2193,1801
$GC,1797,0.79,146.6,83.7,6.7,210,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2193,1799
$GC,2116,0.79,146.6,62.1,6.8,240,2120,0.00,2.33,0.00,0.000,4,0.000,0.044,2985,3606,1799
$GC,2146,0.79,146.6,59.9,7.5,242,2152,0.00,2.20,0.00,0.000,6,0.000,0.027,2994,2205,1799
$GC,2483,0.79,146.6,36.9,7.0,290,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,1799
$GC,2697,0.79,146.6,22.5,6.8,327,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,1799
$GC,2911,0.83,181.7,10.0,5.0,364,2945,0.00,0.00,27.92,0.745,6,0.000,0.000,2994,2204,1657
$GC,3015,0.91,240.3,5.3,4.4,382,3061,0.10,0.00,43.58,0.679,6,0.070,0.000,3050,2202,1420
$STATE,3088,end climb,SURFACE_DEPTH_REACHED
$STATE,3088,begin surface coast
$FINISH,1.6,1.023504
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3166,121.93,0.646,0,0,462,475.15
$SM_GC,2.46,0.00,0.00,121.93,0.000,0.000,0.646,14,2353,462,-8.52,0.08,475.15
$IRIDIUM_FIX,4748.51,-12226.29,031007,222221
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,42.2
$24V_AH,24.3,63.135
$10V_AH,10.7,31.892
$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,20.425,18.475,295.475,121.925,0.000,29.081,26.576,107.630,0.250,0.000,0.000,15.553,626.424,1360.058,457.247,768.033,373.635,33.355,845.901,0.000,789.217,0.000,2.511
$DEVICE_MAMPS,204.022,61.360,744.757,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.086,312.147,681.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19106,404
$CFSIZE,260165632,238329856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,201621,4807.479,-12223.505,9,1.5,9,18.3