version: 66.02
glider: 23
mission: 2
dive: 122
start: 9 24 107 16 13 0
data:
$ID,23
$MISSION,2
$DIVE,122
$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,-28977.752
$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,37
$R_STBD_OVSHOOT,46
$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
$GPS1,160829,4740.014,-12252.741,13,2.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,161156,4740.025,-12252.729,14,1.6,14,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,-0.160
$KALMAN_X,6486.1,10.8,132.4,-6355.3,-0.6
$KALMAN_Y,6981.7,112.5,-54.1,-6588.7,33.2
$MHEAD_RNG_PITCHd_Wd,189.2,1191,-17.8,-7.500
$D_GRID,120
$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,-55.45,0.000,2,0.000,0.000,363,2173,3202
$GC,80,-1.22,-97.8,2.1,-3.0,9,124,10.98,2.45,-27.38,0.000,4,0.144,0.062,2338,3551,3884
$GC,150,-1.22,-97.8,4.3,-5.2,20,156,0.00,2.35,0.00,0.000,6,0.000,0.034,2338,2162,3885
$GC,221,-1.22,-97.8,10.7,-9.2,31,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2162,3885
$GC,293,-1.22,-97.8,16.5,-7.4,42,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2162,3885
$GC,365,-1.22,-97.8,21.1,-6.3,52,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2162,3886
$GC,556,-1.22,-97.8,32.0,-5.7,67,560,0.00,2.40,0.00,0.000,4,0.000,0.048,2338,3544,3887
$GC,603,-1.22,-97.8,34.9,-6.6,70,607,0.00,2.35,0.00,0.000,6,0.000,0.034,2338,2149,3887
$GC,797,-1.22,-97.8,47.1,-6.1,85,801,0.00,2.42,0.00,0.000,4,0.000,0.049,2338,3544,3887
$GC,843,-1.22,-97.8,50.2,-6.8,88,850,0.00,2.40,0.00,0.000,6,0.000,0.034,2338,2147,3887
$GC,1038,-1.22,-97.8,62.7,-6.4,104,1042,0.00,2.45,0.00,0.000,4,0.000,0.050,2338,3552,3887
$GC,1224,-1.22,-97.8,75.3,-6.7,118,1228,0.00,2.38,0.00,0.000,6,0.000,0.035,2338,2149,3887
$GC,1419,-1.22,-97.8,87.4,-6.1,133,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2149,3887
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1474,-0.31,0.0,90.5,6.2,137,1555,1.00,0.00,75.85,0.737,6,0.091,0.000,2539,2030,3483
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1558,1.22,97.8,91.8,0.0,144,1643,1.55,2.95,73.70,0.719,4,0.065,0.059,2870,657,3084
$GC,1668,1.22,97.8,83.3,10.5,153,1673,0.00,2.70,0.00,0.000,6,0.000,0.029,2870,2026,3084
$GC,1870,1.22,97.8,60.6,10.6,169,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2028,3084
$GC,2062,1.22,97.8,40.6,10.5,184,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2028,3084
$GC,2250,1.22,97.8,20.5,10.4,199,2255,0.00,2.85,0.00,0.000,4,0.000,0.058,2870,650,3083
$GC,2301,1.22,97.8,14.6,11.2,206,2309,0.00,2.78,0.00,0.000,6,0.000,0.031,2870,2071,3084
$GC,2374,1.22,97.8,7.9,8.5,217,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2070,3084
$GC,2446,1.23,106.4,2.8,7.1,228,2459,0.00,2.95,6.05,0.722,4,0.000,0.056,2870,651,3049
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2464,begin surface coast
$FINISH,0.5,1.010946
$STATE,2491,end surface coast,CONTROL_FINISHED_OK
$STATE,2491,begin surface
$SM_CCo,2513,113.50,0.645,0,0,2057,350.04
$SM_GC,1.14,0.00,0.00,113.50,0.000,0.000,0.645,367,2145,2057,-10.32,-0.14,350.04
$IRIDIUM_FIX,4722.92,-12256.21,240907,191904
$TT8_MAMPS,0.024544
$HUMID,2124
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.5,8.4
$ALTIM_BOTTOM_PING,90.5,24.0
$24V_AH,24.0,11.418
$10V_AH,10.2,4.774
$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,24.875,36.575,155.600,113.500,0.000,41.301,27.928,66.553,2.000,0.000,0.000,15.710,455.156,1399.608,375.647,420.600,212.960,33.349,637.983,0.000,408.291,0.000,11.653
$DEVICE_MAMPS,144.196,62.127,737.087,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6474,235
$CFSIZE,260034560,254656512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,165756,4739.788,-12252.934,10,1.5,27,18.3