version: 66.03
glider: 128
mission: 2
dive: 717
start: 10 4 107 12 45 0
data:
$ID,128
$MISSION,2
$DIVE,717
$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,-75948.594
$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,57
$R_STBD_OVSHOOT,43
$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
$GPS1,123925,4805.306,-12221.421,28,1.6,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-67.6
$GPS2,124403,4805.327,-12221.422,11,1.1,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.138
$KALMAN_X,-43858.0,107.1,70.2,46312.8,-314.3
$KALMAN_Y,-11620.7,-193.1,-5.7,7500.8,157.8
$MHEAD_RNG_PITCHd_Wd,111.2,799,-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,34,-0.79,-146.6,0.0,0.0,0,79,0.00,0.00,-42.88,0.000,2,0.000,0.000,9,2356,1647
$GC,84,-0.79,-146.6,3.1,-1.8,8,136,10.23,2.42,-37.12,0.000,4,0.212,0.061,2471,3752,2999
$GC,190,-0.79,-146.6,13.6,-11.2,26,196,0.00,2.25,0.00,0.000,6,0.000,0.026,2471,2328,3001
$GC,267,-0.79,-146.6,21.6,-10.3,39,273,0.00,2.17,0.00,0.000,4,0.000,0.031,2471,965,3002
$GC,388,-0.79,-146.6,33.4,-9.8,60,395,0.00,2.25,0.00,0.000,6,0.000,0.033,2467,2338,3001
$GC,606,-0.79,-146.6,53.3,-8.9,95,610,0.00,2.20,0.00,0.000,4,0.000,0.031,2468,961,3001
$GC,630,-0.79,-146.6,56.0,-9.7,96,636,0.00,2.22,0.00,0.000,6,0.000,0.033,2465,2348,3002
$GC,956,-0.79,-146.6,85.3,-9.2,127,960,0.00,2.33,0.00,0.000,4,0.000,0.049,2455,3753,3002
$GC,990,-0.79,-146.6,88.6,-10.1,129,997,0.00,2.20,0.00,0.000,6,0.000,0.026,2455,2340,3002
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1237,-0.28,0.0,110.9,9.2,152,1355,0.60,0.00,112.75,0.749,6,0.111,0.000,2642,2206,2399
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1360,0.79,146.6,115.5,0.0,164,1477,1.05,0.00,111.97,0.707,6,0.081,0.000,2985,2206,1801
$GC,1796,0.79,146.6,89.9,6.8,206,1800,0.00,2.35,0.00,0.000,4,0.000,0.045,2985,3610,1800
$GC,1836,0.79,146.6,86.9,8.2,209,1843,0.00,2.22,0.00,0.000,6,0.000,0.026,2994,2205,1799
$GC,2168,0.79,146.6,63.5,7.3,240,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,1799
$GC,2504,0.79,146.6,38.9,7.3,284,2510,0.00,2.33,0.00,0.000,4,0.000,0.045,2994,3608,1799
$GC,2553,0.79,146.6,35.2,7.7,292,2559,0.00,2.22,0.00,0.000,6,0.000,0.027,3003,2195,1799
$GC,2765,0.79,146.6,20.8,6.0,329,2772,0.00,2.35,0.00,0.000,4,0.000,0.045,3003,3601,1799
$GC,2803,0.79,146.6,18.4,6.4,335,2809,0.00,2.20,0.00,0.000,6,0.000,0.027,3009,2201,1799
$GC,2879,0.86,201.2,14.6,4.5,348,2930,0.00,2.30,41.88,0.727,4,0.000,0.037,3009,812,1578
$GC,2962,0.93,259.8,11.1,4.4,362,3013,0.00,2.28,45.15,0.670,6,0.000,0.031,3009,2201,1340
$GC,3084,1.00,318.4,6.5,4.4,383,3136,0.15,2.45,45.42,0.670,4,0.061,0.045,3085,3598,1099
$STATE,3310,end climb,NO_VERTICAL_VELOCITY
$STATE,3310,begin surface
$SM_CCo,3315,130.25,0.652,0,0,203,538.68
$SM_GC,2.48,8.93,0.00,0.00,0.041,0.000,0.000,14,2339,194,-8.46,-0.31,540.89
$IRIDIUM_FIX,4745.30,-12211.24,041007,151527
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,46.0
$24V_AH,24.3,64.743
$10V_AH,10.7,32.748
$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,20.950,40.975,357.175,130.250,0.000,27.713,14.504,116.128,0.500,0.000,0.000,13.245,643.577,1487.007,514.654,809.966,393.481,33.359,945.928,0.000,834.653,0.000,5.478
$DEVICE_MAMPS,211.692,60.593,748.592,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.736,321.565,714.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22311,423
$CFSIZE,260165632,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,134509,4805.146,-12221.153,10,1.5,10,18.3