version: 66.02
glider: 128
mission: 2
dive: 293
start: 9 17 107 18 28 34
data:
$ID,128
$MISSION,2
$DIVE,293
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$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,300
$N_FILEKB,4
$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,-66218.82
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$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
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$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,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$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,48
$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
$GPS1,182221,4805.436,-12221.704,11,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.7
$GPS2,182733,4805.404,-12221.712,11,1.6,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.122
$KALMAN_X,20681.9,115.5,-112.1,-17983.7,107.8
$KALMAN_Y,12159.2,-77.4,57.7,-17812.1,-8.9
$MHEAD_RNG_PITCHd_Wd,302.7,5578,-10.6,-5.026
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,86,0.00,0.00,-59.70,0.000,2,0.000,0.000,8,2274,3072
$GC,89,-0.77,-146.6,3.0,-2.8,11,114,10.32,2.33,-7.20,0.000,4,0.209,0.064,2555,3652,3399
$GC,211,-0.77,-146.6,15.8,-7.6,32,217,0.00,2.28,0.00,0.000,6,0.000,0.029,2555,2232,3401
$GC,287,-0.77,-146.6,20.9,-6.7,44,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3401
$GC,476,-0.77,-146.6,33.9,-6.9,62,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3402
$GC,667,-0.77,-146.6,46.4,-6.6,80,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3402
$GC,858,-0.77,-146.6,58.8,-6.4,98,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2232,3402
$GC,1177,-0.77,-146.6,79.3,-6.2,128,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2231,3402
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.28,0.0,95.5,6.3,152,1552,0.52,0.00,111.18,0.755,6,0.110,0.000,2723,2139,2799
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1553,begin climb
$GC,1556,0.77,146.6,98.2,0.0,164,1675,1.02,2.40,110.32,0.692,4,0.080,0.044,3067,766,2201
$GC,1709,0.77,146.6,90.6,7.4,178,1715,0.00,2.33,0.00,0.000,6,0.000,0.037,3067,2143,2201
$GC,2035,0.77,146.6,66.2,7.6,209,2039,0.00,2.38,0.00,0.000,4,0.000,0.051,3067,3565,2198
$GC,2097,0.77,146.6,60.9,8.1,214,2102,0.00,2.28,0.00,0.000,6,0.000,0.033,3074,2158,2198
$GC,2430,0.77,146.6,37.3,6.6,245,2434,0.00,2.33,0.00,0.000,4,0.000,0.047,3081,737,2198
$GC,2451,0.77,146.6,35.5,7.1,246,2458,0.00,2.33,0.00,0.000,6,0.000,0.038,3081,2150,2198
$GC,2649,0.77,146.6,22.2,6.6,265,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2150,2198
$GC,2849,0.77,146.6,8.6,6.8,298,2856,0.00,2.33,0.00,0.000,4,0.000,0.051,3081,3563,2198
$GC,2886,0.77,146.6,6.1,6.7,304,2892,0.00,2.28,0.00,0.000,6,0.000,0.034,3090,2148,2198
$GC,2961,0.77,151.4,2.1,4.9,317,2968,0.00,0.00,3.65,0.525,6,0.000,0.000,3090,2148,2182
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,1.0,1.023118
$STATE,3018,end surface coast,CONTROL_FINISHED_OK
$STATE,3018,begin surface
$SM_CCo,3036,64.53,0.697,0,0,1577,300.00
$SM_GC,1.60,0.00,0.00,64.53,0.000,0.000,0.697,15,2260,1577,-8.77,0.28,300.00
$IRIDIUM_FIX,4748.51,-12221.84,170907,212105
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,45.1
$24V_AH,24.6,31.085
$10V_AH,10.7,15.278
$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,20.600,23.500,225.150,64.525,0.000,39.852,54.206,106.027,0.250,0.000,0.000,12.550,548.674,1570.657,320.928,649.797,346.703,33.328,658.981,0.000,665.687,0.000,2.517
$DEVICE_MAMPS,209.391,65.195,754.728,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.582,255.290,551.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16012,327
$CFSIZE,260165632,249491456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,192103,4805.701,-12221.926,10,1.8,11,18.3