version: 66.03
glider: 128
mission: 2
dive: 740
start: 10 5 107 15 28 46
data:
$ID,128
$MISSION,2
$DIVE,740
$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,538.67877
$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,-80179.133
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,160019,4751.718,-12219.121,0,10000.0,0,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-66.1
$GPS2,160019,4751.718,-12219.121,0,10000.0,0,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,0.198
$KALMAN_X,-998.2,330.8,64.2,-508.4,76.8
$KALMAN_Y,-3762.6,-674.7,-128.0,4676.6,-211.6
$MHEAD_RNG_PITCHd_Wd,317.4,30751,-11.0,-5.970
$D_GRID,100
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.79,-146.6,0.0,0.0,0,54,0.00,0.00,-21.27,0.000,2,0.000,0.000,16,2360,804
$GC,59,-0.79,-146.6,3.1,-1.1,4,149,9.68,2.35,-73.38,0.000,4,0.196,0.064,2472,3756,2998
$GC,164,-0.79,-146.6,8.1,-8.3,22,170,0.00,2.25,0.00,0.000,6,0.000,0.025,2473,2322,2999
$GC,240,-0.79,-146.6,13.5,-6.9,35,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2322,3000
$GC,318,-0.79,-146.6,19.2,-7.9,48,324,0.00,2.40,0.00,0.000,4,0.000,0.051,2466,3751,3001
$GC,372,-0.79,-146.6,24.3,-9.2,57,378,0.00,2.17,0.00,0.000,6,0.000,0.026,2466,2352,3001
$GC,585,-0.79,-146.6,43.5,-9.1,94,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2351,3001
$GC,788,-0.79,-146.6,61.7,-9.2,119,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2351,3001
$GC,1106,-0.79,-146.6,90.3,-9.0,149,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2348,3001
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1230,-0.28,0.0,100.5,8.8,160,1347,0.55,0.00,112.82,0.750,6,0.108,0.000,2640,2201,2399
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1352,0.79,146.6,105.5,0.0,172,1471,1.08,2.47,111.90,0.700,4,0.083,0.048,2989,3604,1801
$GC,1503,0.79,146.6,98.9,7.3,185,1510,0.00,2.30,0.00,0.000,6,0.000,0.028,2998,2208,1800
$GC,1833,0.79,146.6,76.1,7.0,216,1837,0.00,2.35,0.00,0.000,4,0.000,0.050,2998,3606,1798
$GC,1869,0.79,146.6,73.1,7.9,219,1873,0.00,2.28,0.00,0.000,6,0.000,0.028,2999,2195,1798
$GC,2199,0.79,146.6,50.3,6.8,249,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,1798
$GC,2546,0.79,146.6,26.7,6.5,310,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,1798
$GC,2762,0.79,148.5,13.6,5.9,347,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2195,1798
$GC,2838,0.86,207.5,9.8,4.3,360,2890,0.00,2.47,46.35,0.721,4,0.000,0.050,2999,3604,1553
$GC,2983,1.15,437.8,6.5,-0.4,385,3170,0.30,2.28,174.68,0.656,6,0.044,0.028,3126,2188,614
$GC,3240,1.41,651.0,2.8,0.1,430,3324,0.17,2.35,77.03,0.646,4,0.063,0.038,3198,796,202
$STATE,3329,end climb,NO_VERTICAL_VELOCITY
$STATE,3329,begin surface
$SM_CCo,3571,0.00,0.000,0,0,192,541.62
$SM_GC,2.77,9.15,0.00,0.00,0.044,0.000,0.000,18,2361,192,-8.45,0.31,541.62
$IRIDIUM_FIX,4751.72,-12219.12,051007,161619
$TT8_MAMPS,0.026078
$HUMID,1858
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,75.1,41.1
$24V_AH,24.2,67.033
$10V_AH,10.7,33.990
$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,20.925,28.475,522.775,0.000,0.000,166.007,141.653,0.000,0.750,0.000,0.000,906.895,632.569,1734.457,482.453,1749.982,544.133,33.346,979.844,0.000,878.744,0.000,2.511
$DEVICE_MAMPS,195.585,63.661,750.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.483,334.962,753.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22324,446
$CFSIZE,260165632,237215744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,162932,4805.828,-12222.665,37,1.4,37,18.3