version: 66.02
glider: 23
mission: 2
dive: 119
start: 9 24 107 13 39 30
data:
$ID,23
$MISSION,2
$DIVE,119
$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,-28979.195
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,133437,4740.473,-12252.235,35,1.1,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.6
$GPS2,133826,4740.500,-12252.227,10,1.2,10,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,-0.140
$KALMAN_X,6463.7,-56.5,63.1,-5570.8,88.9
$KALMAN_Y,6783.3,45.0,50.9,-5550.4,42.2
$MHEAD_RNG_PITCHd_Wd,201.1,2268,-17.8,-7.500
$D_GRID,114
$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,-97.8,0.0,0.0,0,77,0.00,0.00,-55.42,0.000,2,0.000,0.000,364,2175,3204
$GC,80,-1.22,-97.8,2.2,-3.1,9,124,11.02,2.42,-27.08,0.000,4,0.146,0.063,2342,3532,3884
$GC,143,-1.22,-97.8,4.6,-6.7,19,150,0.00,2.33,0.00,0.000,6,0.000,0.035,2342,2161,3885
$GC,215,-1.22,-97.8,10.5,-7.9,30,221,0.00,2.90,0.00,0.000,4,0.000,0.051,2342,738,3885
$GC,273,-1.22,-97.8,15.4,-8.2,39,280,0.00,2.75,0.00,0.000,6,0.000,0.031,2342,2132,3885
$GC,346,-1.22,-97.8,20.4,-6.7,50,350,0.00,2.47,0.00,0.000,4,0.000,0.050,2342,3564,3886
$GC,549,-1.22,-97.8,33.9,-6.6,65,556,0.00,2.42,0.00,0.000,6,0.000,0.034,2342,2148,3886
$GC,745,-1.22,-97.8,45.7,-6.0,81,750,0.00,2.85,0.00,0.000,4,0.000,0.051,2341,737,3886
$GC,771,-1.22,-97.8,47.5,-7.0,83,776,0.00,2.78,0.00,0.000,6,0.000,0.031,2342,2156,3886
$GC,967,-1.22,-97.8,59.4,-5.7,98,971,0.00,2.45,0.00,0.000,4,0.000,0.051,2342,3567,3887
$GC,1024,-1.22,-97.8,63.0,-6.8,102,1032,0.00,2.42,0.00,0.000,6,0.000,0.035,2342,2149,3886
$GC,1221,-1.22,-97.8,74.6,-6.0,118,1225,0.00,2.88,0.00,0.000,4,0.000,0.053,2341,726,3886
$GC,1273,-1.22,-97.8,77.9,-6.3,122,1278,0.00,2.78,0.00,0.000,6,0.000,0.031,2342,2149,3886
$GC,1468,-1.22,-97.8,89.6,-5.8,137,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2149,3886
$STATE,1483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1483,begin apogee
$GC,1488,-0.31,0.0,90.3,5.8,138,1567,0.95,0.00,76.05,0.734,6,0.091,0.000,2536,2028,3483
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1568,begin climb
$GC,1570,1.22,97.8,91.7,0.0,145,1652,1.62,2.95,73.90,0.721,4,0.068,0.056,2875,661,3084
$GC,1670,1.22,97.8,83.9,11.0,153,1678,0.00,2.78,0.00,0.000,6,0.000,0.030,2875,2044,3084
$GC,1866,1.22,97.8,61.3,11.7,169,1871,0.00,2.90,0.00,0.000,4,0.000,0.058,2875,651,3083
$GC,1918,1.22,97.8,54.7,12.7,173,1923,0.00,2.78,0.00,0.000,6,0.000,0.030,2875,2061,3084
$GC,2120,1.22,97.8,31.9,11.2,189,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2062,3084
$GC,2315,1.22,97.8,12.0,9.6,210,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2062,3083
$GC,2386,1.22,97.8,5.9,8.2,221,2393,0.00,2.90,0.00,0.000,4,0.000,0.056,2875,658,3083
$GC,2398,1.22,97.8,4.9,8.0,223,2405,0.00,2.75,0.00,0.000,6,0.000,0.030,2875,2059,3083
$STATE,2449,end climb,SURFACE_DEPTH_REACHED
$STATE,2449,begin surface coast
$FINISH,0.4,1.003602
$STATE,2490,end surface coast,CONTROL_FINISHED_OK
$STATE,2490,begin surface
$SM_CCo,2509,120.15,0.646,0,0,2056,350.04
$SM_GC,1.13,0.00,0.00,120.15,0.000,0.000,0.646,365,2163,2056,-10.33,0.37,350.04
$IRIDIUM_FIX,4722.92,-12256.21,240907,161652
$TT8_MAMPS,0.026845
$HUMID,2134
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,8.4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,24.0,11.229
$10V_AH,10.2,4.712
$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,24.950,48.825,149.950,120.150,0.000,39.486,34.971,85.281,2.000,0.000,0.000,12.005,462.632,1370.613,395.904,420.337,238.764,33.359,656.360,0.000,412.216,0.000,11.512
$DEVICE_MAMPS,146.497,62.894,734.019,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6453,237
$CFSIZE,260034560,254730240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,142429,4740.343,-12252.373,8,3.2,27,18.3