version: 66.02
glider: 128
mission: 2
dive: 297
start: 9 17 107 22 33 14
data:
$ID,128
$MISSION,2
$DIVE,297
$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,-66317.664
$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,32
$R_STBD_OVSHOOT,39
$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,150
$AH0_10V,80
$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
$GPS1,222703,4806.557,-12222.646,8,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.3
$GPS2,223214,4806.547,-12222.639,34,1.1,34,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.097
$KALMAN_X,20918.4,66.6,177.6,-19608.3,69.4
$KALMAN_Y,12622.2,221.8,-309.9,-16086.2,266.2
$MHEAD_RNG_PITCHd_Wd,290.0,3173,-10.6,-5.026
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,92,0.00,0.00,-65.32,0.000,2,0.000,0.000,17,2267,3237
$GC,95,-0.77,-146.6,3.8,-3.8,12,115,10.35,2.38,-3.20,0.000,4,0.212,0.055,2566,840,3398
$GC,183,-0.77,-146.6,15.5,-7.9,27,189,0.00,2.30,0.00,0.000,6,0.000,0.038,2564,2241,3400
$GC,263,-0.77,-146.6,20.9,-6.3,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2241,3401
$GC,454,-0.77,-146.6,33.2,-6.3,58,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2241,3402
$GC,645,-0.77,-146.6,44.8,-5.6,76,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2241,3402
$GC,836,-0.77,-146.6,56.9,-6.6,94,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2241,3402
$GC,1154,-0.77,-146.6,76.9,-6.3,124,1158,0.00,2.35,0.00,0.000,4,0.000,0.054,2563,3664,3402
$GC,1183,-0.77,-146.6,78.7,-6.5,126,1187,0.00,2.28,0.00,0.000,6,0.000,0.030,2562,2227,3402
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1458,-0.28,0.0,95.7,6.3,151,1575,0.50,0.00,111.15,0.759,6,0.108,0.000,2724,2139,2799
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1579,0.77,146.6,98.2,0.0,163,1700,1.02,2.42,110.28,0.694,4,0.081,0.046,3067,758,2201
$GC,1718,0.77,146.6,91.5,6.9,176,1724,0.00,2.38,0.00,0.000,6,0.000,0.038,3067,2158,2201
$GC,2046,0.77,146.6,68.0,7.3,207,2050,0.00,2.35,0.00,0.000,4,0.000,0.051,3067,3561,2199
$GC,2074,0.77,146.6,65.6,8.1,209,2078,0.00,2.28,0.00,0.000,6,0.000,0.033,3074,2166,2198
$GC,2401,0.77,146.6,42.0,7.1,239,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2167,2198
$GC,2589,0.77,146.6,28.8,6.8,257,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2167,2198
$GC,2785,0.77,146.6,15.5,6.7,281,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2167,2198
$GC,2860,0.77,146.6,10.6,6.7,294,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2166,2198
$GC,2934,0.77,146.6,5.9,6.0,307,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2167,2198
$GC,3009,0.79,161.0,2.4,4.6,320,3021,0.00,0.00,10.57,0.816,6,0.000,0.000,3074,2166,2142
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,0.9,1.024006
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3096,63.75,0.685,0,0,1576,300.00
$SM_GC,1.16,0.00,0.00,63.75,0.000,0.000,0.685,10,2263,1576,-8.78,0.37,300.00
$IRIDIUM_FIX,4748.51,-12224.57,180907,010102
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,40.2
$24V_AH,24.5,31.375
$10V_AH,10.7,15.452
$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,20.625,18.975,232.000,63.750,0.000,40.961,63.858,94.382,0.250,0.000,0.000,35.424,552.335,1611.385,328.789,678.892,322.768,33.326,670.816,0.000,672.166,0.000,2.509
$DEVICE_MAMPS,212.459,67.496,816.088,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.799,258.833,560.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16008,332
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,232644,4806.838,-12222.972,6,1.3,13,18.3