version: 66.02
glider: 23
mission: 2
dive: 116
start: 9 24 107 11 12 12
data:
$ID,23
$MISSION,2
$DIVE,116
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$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,40
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28998.338
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,110727,4740.847,-12251.785,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.2
$GPS2,111108,4740.862,-12251.771,10,1.3,15,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.131,-0.132
$KALMAN_X,6331.4,-103.7,-86.6,-4675.7,91.9
$KALMAN_Y,6427.8,5.6,184.1,-4614.9,-5.5
$MHEAD_RNG_PITCHd_Wd,206.5,3141,-19.8,-8.333
$D_GRID,99
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.34,-97.8,0.0,0.0,0,72,0.00,0.00,-50.08,0.000,2,0.000,0.000,363,2172,3120
$GC,75,-1.34,-97.8,2.1,-3.5,8,124,10.85,2.95,-30.00,0.000,4,0.145,0.058,2315,737,3884
$GC,235,-1.34,-97.8,13.9,-9.3,33,242,0.00,2.75,0.00,0.000,6,0.000,0.029,2314,2139,3885
$GC,308,-1.34,-97.8,19.0,-6.4,44,314,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3567,3885
$GC,400,-1.34,-97.8,24.9,-6.3,53,404,0.00,2.38,0.00,0.000,6,0.000,0.034,2314,2155,3885
$GC,601,-1.34,-97.8,37.9,-7.0,69,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2155,3885
$GC,792,-1.34,-97.8,51.1,-6.7,84,796,0.00,2.45,0.00,0.000,4,0.000,0.049,2314,3569,3887
$GC,842,-1.34,-97.8,54.7,-7.0,87,850,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2150,3887
$GC,1039,-1.34,-97.8,68.0,-6.9,103,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2150,3887
$GC,1228,-1.34,-97.8,80.8,-6.5,118,1232,0.00,2.45,0.00,0.000,4,0.000,0.050,2315,3566,3886
$GC,1391,-1.34,-97.8,92.2,-4.2,130,1399,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2146,3887
$STATE,1537,end dive,NO_VERTICAL_VELOCITY
$STATE,1537,begin apogee
$GC,1542,-0.31,0.0,92.1,0.0,142,1623,1.08,0.00,75.88,0.736,6,0.074,0.000,2538,2027,3483
$STATE,1624,end apogee,CONTROL_FINISHED_OK
$STATE,1624,begin climb
$GC,1626,1.34,97.8,91.9,0.0,149,1711,1.67,2.60,73.70,0.719,4,0.064,0.044,2896,3462,3083
$GC,1803,1.34,97.8,74.5,12.9,163,1807,0.00,2.47,0.00,0.000,6,0.000,0.041,2896,2061,3083
$GC,2005,1.34,97.8,49.9,12.3,179,2009,0.00,2.95,0.00,0.000,4,0.000,0.062,2896,640,3082
$GC,2031,1.34,97.8,46.2,14.4,181,2035,0.00,2.78,0.00,0.000,6,0.000,0.028,2896,2060,3084
$GC,2233,1.34,97.8,21.0,11.7,197,2237,0.00,2.92,0.00,0.000,4,0.000,0.058,2896,645,3083
$GC,2265,1.34,97.8,16.7,12.6,201,2272,0.00,2.75,0.00,0.000,6,0.000,0.030,2896,2048,3084
$GC,2338,1.34,97.8,8.9,10.2,212,2344,0.00,2.45,0.00,0.000,4,0.000,0.048,2896,3458,3083
$GC,2370,1.34,97.8,5.8,9.6,217,2376,0.00,2.45,0.00,0.000,6,0.000,0.040,2896,2044,3083
$STATE,2413,end climb,SURFACE_DEPTH_REACHED
$STATE,2414,begin surface coast
$FINISH,0.4,1.009959
$STATE,2442,end surface coast,CONTROL_FINISHED_OK
$STATE,2442,begin surface
$SM_CCo,2461,119.93,0.647,0,0,2056,350.04
$SM_GC,1.15,0.00,0.00,119.93,0.000,0.000,0.647,364,2176,2056,-10.33,0.74,350.04
$IRIDIUM_FIX,4722.92,-12253.53,240907,141412
$TT8_MAMPS,0.026845
$HUMID,2149
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.5
$ALTIM_BOTTOM_PING,70.5,25.8
$24V_AH,24.0,11.045
$10V_AH,10.2,4.652
$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,25.050,42.050,149.575,119.925,0.000,41.266,31.250,75.615,1.250,0.000,0.000,17.226,441.813,1363.351,380.034,421.660,224.941,33.352,638.878,0.000,408.935,0.000,8.563
$DEVICE_MAMPS,144.963,62.127,736.320,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6466,228
$CFSIZE,260034560,254803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,115631,4740.717,-12251.924,36,1.5,36,18.3