version: 66.02
glider: 128
mission: 2
dive: 299
start: 9 18 107 0 38 23
data:
$ID,128
$MISSION,2
$DIVE,299
$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,-66393.805
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,003147,4807.153,-12223.226,10,2.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.0
$GPS2,003723,4807.142,-12223.229,12,2.7,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.125
$KALMAN_X,21108.7,62.3,120.2,-20466.1,-8.3
$KALMAN_Y,12446.1,368.4,-0.5,-15265.6,139.6
$MHEAD_RNG_PITCHd_Wd,304.5,1854,-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,-65.20,0.000,2,0.000,0.000,5,2229,3248
$GC,95,-0.77,-146.6,3.9,-3.9,12,115,10.40,2.45,-2.97,0.000,4,0.212,0.064,2559,3665,3399
$GC,132,-0.77,-146.6,11.6,-18.0,18,139,0.00,2.30,0.00,0.000,6,0.000,0.029,2559,2235,3401
$GC,207,-0.77,-146.6,16.9,-6.9,31,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2234,3401
$GC,280,-0.77,-146.6,21.8,-6.8,42,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2235,3401
$GC,471,-0.77,-146.6,33.9,-6.3,60,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2235,3402
$GC,662,-0.77,-146.6,46.3,-6.3,78,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2235,3402
$GC,854,-0.77,-146.6,58.4,-6.2,96,858,0.00,2.38,0.00,0.000,4,0.000,0.053,2551,3655,3403
$GC,881,-0.77,-146.6,60.3,-7.1,98,885,0.00,2.22,0.00,0.000,6,0.000,0.028,2551,2246,3403
$GC,1209,-0.77,-146.6,81.1,-6.3,128,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2245,3403
$STATE,1426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1432,-0.28,0.0,95.2,6.3,149,1549,0.52,0.00,111.30,0.758,6,0.114,0.000,2719,2140,2799
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1550,begin climb
$GC,1552,0.77,146.6,97.9,0.0,161,1669,1.05,0.00,110.97,0.696,6,0.083,0.000,3061,2140,2201
$GC,1987,0.77,146.6,69.6,7.3,203,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$GC,2306,0.77,146.6,47.3,6.8,233,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$GC,2497,0.77,146.6,34.9,6.5,251,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2141,2198
$GC,2688,0.77,146.6,22.4,6.6,269,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2140,2198
$GC,2889,0.77,146.6,9.8,6.2,301,2895,0.00,2.38,0.00,0.000,4,0.000,0.051,3061,3555,2198
$GC,2913,0.77,146.6,8.2,6.1,305,2919,0.00,2.22,0.00,0.000,6,0.000,0.034,3067,2167,2197
$GC,2987,0.77,146.6,4.2,5.3,318,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2166,2198
$STATE,3048,end climb,SURFACE_DEPTH_REACHED
$STATE,3048,begin surface coast
$FINISH,0.8,1.024026
$STATE,3122,end surface coast,CONTROL_FINISHED_OK
$STATE,3122,begin surface
$SM_CCo,3141,76.05,0.704,0,0,1575,300.00
$SM_GC,1.44,0.00,0.00,76.05,0.000,0.000,0.704,6,2263,1575,-8.80,0.37,300.00
$IRIDIUM_FIX,4751.72,-12223.57,180907,030308
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,54.6
$24V_AH,24.5,31.525
$10V_AH,10.7,15.542
$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,20.700,14.225,222.275,76.050,0.000,39.133,49.817,107.386,0.750,0.000,0.000,34.037,561.011,1654.954,350.501,664.268,345.131,33.324,671.007,0.000,662.832,0.000,2.529
$DEVICE_MAMPS,211.692,63.661,757.796,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,245.174,269.126,577.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16044,342
$CFSIZE,260165632,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,013305,4807.490,-12223.475,7,5.6,27,18.3