version: 66.02
glider: 128
mission: 2
dive: 292
start: 9 17 107 17 29 7
data:
$ID,128
$MISSION,2
$DIVE,292
$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,-66205.641
$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,42
$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
$GPS1,172123,4805.170,-12221.462,10,3.0,30,18.3
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.6
$GPS2,172807,4805.144,-12221.452,33,1.2,33,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.121
$KALMAN_X,20875.9,-4.8,-240.1,-17608.7,179.3
$KALMAN_Y,11827.5,-21.4,305.5,-18265.9,-123.8
$MHEAD_RNG_PITCHd_Wd,302.1,6157,-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,21,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,81,0.00,0.00,-54.83,0.000,2,0.000,0.000,23,2271,2986
$GC,84,-0.77,-146.6,3.2,-3.5,10,109,10.23,2.40,-9.23,0.000,4,0.209,0.065,2560,3652,3400
$GC,178,-0.77,-146.6,13.0,-7.9,26,184,0.00,2.28,0.00,0.000,6,0.000,0.029,2560,2232,3403
$GC,252,-0.77,-146.6,18.3,-7.2,39,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3403
$GC,323,-0.77,-146.6,23.2,-6.7,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3403
$GC,515,-0.77,-146.6,35.9,-6.8,66,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3403
$GC,706,-0.77,-146.6,48.2,-6.2,84,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3404
$GC,897,-0.77,-146.6,60.4,-6.5,102,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2232,3403
$GC,1216,-0.77,-146.6,80.3,-6.2,132,1220,0.00,2.35,0.00,0.000,4,0.000,0.052,2553,3644,3404
$GC,1237,-0.77,-146.6,81.8,-6.8,133,1244,0.00,2.22,0.00,0.000,6,0.000,0.028,2553,2249,3404
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1449,-0.28,0.0,95.8,6.6,153,1566,0.52,0.00,111.30,0.752,6,0.110,0.000,2721,2138,2799
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1570,0.77,146.6,98.5,0.0,165,1688,1.02,2.40,110.25,0.690,4,0.081,0.044,3067,766,2202
$GC,1701,0.77,146.6,92.7,7.1,177,1707,0.00,2.33,0.00,0.000,6,0.000,0.036,3067,2145,2201
$GC,2029,0.77,146.6,68.4,7.2,208,2033,0.00,2.38,0.00,0.000,4,0.000,0.050,3067,3567,2199
$GC,2095,0.77,146.6,62.6,8.0,213,2102,0.00,2.30,0.00,0.000,6,0.000,0.033,3075,2168,2199
$GC,2423,0.77,146.6,38.1,7.4,244,2428,0.00,2.33,0.00,0.000,4,0.000,0.047,3083,747,2198
$GC,2452,0.77,146.6,35.7,7.9,246,2456,0.00,2.28,0.00,0.000,6,0.000,0.037,3083,2150,2198
$GC,2650,0.77,146.6,21.6,7.0,264,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2150,2198
$GC,2850,0.77,146.6,8.0,6.6,297,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2151,2198
$GC,2924,0.77,146.6,3.8,5.7,310,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2151,2198
$STATE,2979,end climb,SURFACE_DEPTH_REACHED
$STATE,2979,begin surface coast
$FINISH,0.9,1.023350
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3054,begin surface
$SM_CCo,3072,73.03,0.707,0,0,1576,300.00
$SM_GC,1.40,0.00,0.00,73.03,0.000,0.000,0.707,8,2273,1576,-8.79,0.65,300.00
$IRIDIUM_FIX,4748.51,-12205.79,170907,202004
$TT8_MAMPS,0.026845
$HUMID,1856
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,46.5
$24V_AH,24.6,31.016
$10V_AH,10.7,15.236
$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,20.475,23.550,221.550,73.025,0.000,39.098,36.593,217.614,0.500,0.000,0.000,34.841,556.614,1580.162,331.838,686.721,416.299,33.327,674.822,0.000,678.879,0.000,2.521
$DEVICE_MAMPS,208.624,65.195,751.660,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.727,259.863,561.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,333
$CFSIZE,260165632,249516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170907,182221,4805.436,-12221.704,11,1.6,12,18.3