version: 66.03
glider: 128
mission: 2
dive: 714
start: 10 4 107 9 23 17
data:
$ID,128
$MISSION,2
$DIVE,714
$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,-75862.602
$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,58
$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
$GPS1,091745,4805.755,-12221.960,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.7
$GPS2,092220,4805.829,-12222.021,8,1.8,14,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.157
$KALMAN_X,-42464.0,-24.3,-203.9,44587.6,-151.4
$KALMAN_Y,-12899.5,111.6,284.3,9111.6,90.8
$MHEAD_RNG_PITCHd_Wd,117.9,1989,-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,34,-0.79,-146.6,0.0,0.0,0,100,0.00,0.00,-64.25,0.000,2,0.000,0.000,19,2330,1908
$GC,105,-0.79,-146.6,3.2,-1.7,12,151,9.77,0.00,-31.48,0.000,6,0.196,0.000,2482,2329,3000
$GC,221,-0.79,-146.6,12.7,-8.5,32,228,0.00,2.22,0.00,0.000,4,0.000,0.032,2482,960,3003
$GC,332,-0.79,-146.6,23.2,-8.8,51,339,0.00,2.30,0.00,0.000,6,0.000,0.035,2481,2356,3003
$GC,545,-0.79,-146.6,41.4,-8.8,88,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2356,3003
$GC,749,-0.79,-146.6,59.4,-8.6,115,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2356,3003
$GC,1070,-0.79,-146.6,86.2,-8.0,145,1074,0.00,2.30,0.00,0.000,4,0.000,0.049,2473,3749,3003
$GC,1126,-0.79,-146.6,91.4,-8.5,149,1132,0.00,2.17,0.00,0.000,6,0.000,0.027,2473,2331,3003
$STATE,1332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1332,begin apogee
$GC,1342,-0.28,0.0,108.6,8.3,169,1460,0.55,0.00,112.88,0.752,6,0.107,0.000,2646,2198,2399
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1464,0.79,146.6,113.1,0.0,181,1582,1.05,0.00,111.93,0.705,6,0.082,0.000,2987,2198,1801
$GC,1902,0.79,146.6,85.3,7.3,223,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2198,1800
$GC,2220,0.79,146.6,63.9,6.8,253,2224,0.00,2.35,0.00,0.000,4,0.000,0.045,2987,3610,1799
$GC,2283,0.79,146.6,59.3,7.2,258,2289,0.00,2.22,0.00,0.000,6,0.000,0.027,2996,2196,1799
$GC,2620,0.79,146.6,37.3,6.3,306,2627,0.00,2.33,0.00,0.000,4,0.000,0.044,2995,3602,1799
$GC,2646,0.79,146.6,35.6,6.5,310,2653,0.00,2.20,0.00,0.000,6,0.000,0.027,3003,2198,1799
$GC,2859,0.79,146.6,22.0,6.1,347,2865,0.00,2.22,0.00,0.000,4,0.000,0.036,3010,801,1799
$GC,2897,0.79,149.5,19.7,5.9,353,2909,0.00,2.25,4.07,0.558,6,0.000,0.031,3010,2201,1789
$GC,2980,0.82,174.5,15.1,5.3,367,3009,0.00,2.35,20.42,0.759,4,0.000,0.045,3010,3598,1687
$GC,3028,0.85,193.4,12.4,5.5,375,3052,0.00,2.22,15.77,0.660,6,0.000,0.027,3010,2197,1610
$GC,3123,0.90,236.6,7.7,4.8,391,3162,0.00,0.00,33.62,0.693,6,0.000,0.000,3010,2197,1433
$GC,3232,1.01,327.1,3.4,3.5,410,3301,0.15,2.38,60.70,0.667,4,0.059,0.044,3087,3588,1063
$STATE,3466,end climb,NO_VERTICAL_VELOCITY
$STATE,3466,begin surface
$SM_CCo,3471,107.68,0.654,0,0,203,538.68
$SM_GC,2.47,8.90,0.00,0.00,0.040,0.000,0.000,19,2347,194,-8.45,-0.11,541.13
$IRIDIUM_FIX,4748.51,-12220.12,041007,121233
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,83.6,48.0
$24V_AH,24.2,64.431
$10V_AH,10.7,32.586
$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,20.425,31.725,359.400,107.675,0.000,24.546,19.847,109.711,1.000,0.000,0.000,15.993,681.644,1543.144,501.875,867.985,382.950,33.351,954.522,0.000,886.304,0.000,6.938
$DEVICE_MAMPS,196.352,49.088,758.563,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.274,342.895,761.422,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22343,451
$CFSIZE,260165632,237940736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,102559,4805.602,-12221.820,10,2.1,29,18.3