version: 66.02
glider: 23
mission: 2
dive: 118
start: 9 24 107 12 50 19
data:
$ID,23
$MISSION,2
$DIVE,118
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,-28986.17
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,124523,4740.599,-12252.095,7,3.5,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.6
$GPS2,124915,4740.623,-12252.088,11,1.8,11,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,-0.137
$KALMAN_X,6416.8,-72.4,18.2,-5289.6,86.5
$KALMAN_Y,6656.5,26.5,99.8,-5226.7,26.8
$MHEAD_RNG_PITCHd_Wd,202.4,2552,-17.8,-7.500
$D_GRID,101
$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,-1.22,-97.8,0.0,0.0,0,83,0.00,0.00,-61.47,0.000,2,0.000,0.000,364,2166,3335
$GC,86,-1.22,-97.8,2.3,-4.0,10,123,10.98,2.92,-20.35,0.000,4,0.145,0.058,2339,725,3883
$GC,182,-1.22,-97.8,8.2,-9.4,25,189,0.00,2.80,0.00,0.000,6,0.000,0.031,2338,2149,3884
$GC,254,-1.22,-97.8,14.5,-8.3,36,261,0.00,2.90,0.00,0.000,4,0.000,0.050,2338,728,3884
$GC,279,-1.22,-97.8,16.6,-8.4,40,287,0.00,2.80,0.00,0.000,6,0.000,0.032,2339,2149,3884
$GC,358,-1.22,-97.8,22.0,-6.5,50,361,0.00,2.45,0.00,0.000,4,0.000,0.051,2338,3563,3884
$GC,534,-1.22,-97.8,34.0,-7.4,63,542,0.00,2.40,0.00,0.000,6,0.000,0.034,2338,2154,3885
$GC,731,-1.22,-97.8,46.2,-6.9,79,735,0.00,2.88,0.00,0.000,4,0.000,0.051,2338,732,3885
$GC,755,-1.22,-97.8,47.9,-6.7,80,763,0.00,2.80,0.00,0.000,6,0.000,0.030,2338,2151,3885
$GC,952,-1.22,-97.8,60.3,-6.3,96,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2149,3885
$GC,1141,-1.22,-97.8,71.9,-5.9,111,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2149,3885
$GC,1331,-1.22,-97.8,83.5,-5.9,126,1335,0.00,2.45,0.00,0.000,4,0.000,0.051,2338,3566,3885
$GC,1369,-1.22,-97.8,86.1,-6.8,128,1376,0.00,2.42,0.00,0.000,6,0.000,0.035,2338,2144,3885
$STATE,1437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1437,begin apogee
$GC,1442,-0.31,0.0,90.8,6.7,134,1524,1.00,0.00,75.88,0.734,6,0.091,0.000,2539,2025,3483
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1527,1.22,97.8,91.8,0.0,141,1612,1.55,2.95,73.35,0.723,4,0.066,0.058,2870,660,3084
$GC,1639,1.22,97.8,82.6,12.0,150,1643,0.00,2.75,0.00,0.000,6,0.000,0.030,2870,2052,3084
$GC,1841,1.22,97.8,60.5,10.9,166,1845,0.00,2.90,0.00,0.000,4,0.000,0.058,2869,658,3084
$GC,1894,1.22,97.8,54.2,12.1,170,1899,0.00,2.75,0.00,0.000,6,0.000,0.030,2870,2055,3083
$GC,2089,1.22,97.8,32.6,10.5,185,2093,0.00,2.90,0.00,0.000,4,0.000,0.058,2869,659,3083
$GC,2128,1.22,97.8,28.2,12.0,188,2132,0.00,2.75,0.00,0.000,6,0.000,0.031,2870,2060,3083
$GC,2329,1.22,97.8,8.7,9.1,212,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2059,3083
$GC,2400,1.22,97.8,2.8,7.8,223,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2059,3083
$STATE,2409,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,0.5,1.003598
$STATE,2437,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2457,119.20,0.644,0,0,2056,350.04
$SM_GC,1.08,0.00,0.00,119.20,0.000,0.000,0.644,363,2174,2056,-10.34,0.71,350.04
$IRIDIUM_FIX,4722.92,-12253.53,240907,151557
$TT8_MAMPS,0.026845
$HUMID,2125
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,8.4
$ALTIM_BOTTOM_PING,70.4,31.6
$24V_AH,24.0,11.167
$10V_AH,10.2,4.691
$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,24.825,44.150,149.225,119.200,0.000,37.415,44.934,80.192,1.250,0.000,0.000,12.497,444.260,1353.001,386.178,414.982,239.944,33.354,649.398,0.000,406.933,0.000,8.580
$DEVICE_MAMPS,144.963,58.292,734.019,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,229
$CFSIZE,260034560,254754816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,133437,4740.473,-12252.235,35,1.1,40,18.3