version: 66.02
glider: 23
mission: 2
dive: 133
start: 9 25 107 3 25 7
data:
$ID,23
$MISSION,2
$DIVE,133
$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,45
$T_MISSION,90
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$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,-28905.113
$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,21
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,031245,4740.208,-12250.059,11,1.3,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.6
$GPS2,032345,4740.250,-12249.937,9,1.6,9,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.229,-0.064
$KALMAN_X,7130.8,-1.9,65.3,-3445.4,232.5
$KALMAN_Y,6718.5,-83.5,102.5,-5875.3,40.5
$MHEAD_RNG_PITCHd_Wd,236.1,4324,-11.6,-7.407
$D_GRID,89
$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,-0.82,-88.0,0.0,0.0,0,97,0.00,0.00,-73.95,0.000,2,0.000,0.000,366,2148,3663
$GC,99,-0.82,-88.0,2.2,-0.9,12,118,11.55,0.00,-4.97,0.000,6,0.150,0.000,2426,2151,3844
$GC,184,-0.82,-88.0,7.8,-2.9,25,191,0.00,2.88,0.00,0.000,4,0.000,0.047,2426,733,3845
$GC,283,-0.82,-88.0,11.1,-3.2,40,290,0.00,2.78,0.00,0.000,6,0.000,0.028,2426,2156,3847
$GC,355,-0.82,-88.0,13.6,-3.3,51,362,0.00,2.42,0.00,0.000,4,0.000,0.048,2426,3555,3846
$GC,587,-0.82,-88.0,19.4,-2.8,86,593,0.00,2.38,0.00,0.000,6,0.000,0.033,2426,2149,3849
$GC,662,-0.82,-88.0,21.4,-2.6,94,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2149,3849
$GC,853,-0.82,-88.0,27.9,-3.2,109,858,0.00,2.88,0.00,0.000,4,0.000,0.052,2426,729,3849
$GC,903,-0.82,-88.0,29.7,-3.4,112,911,0.00,2.80,0.00,0.000,6,0.000,0.030,2426,2146,3849
$GC,1100,-0.82,-88.0,35.5,-3.0,128,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2146,3849
$GC,1290,-0.82,-88.0,41.3,-3.2,143,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2146,3849
$GC,1479,-0.82,-88.0,46.9,-3.1,158,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2146,3849
$GC,1668,-0.82,-88.0,53.9,-3.7,173,1672,0.00,2.45,0.00,0.000,4,0.000,0.051,2426,3559,3849
$GC,1707,-0.82,-88.0,55.5,-4.2,175,1713,0.00,2.38,0.00,0.000,6,0.000,0.035,2426,2147,3849
$GC,1902,-0.82,-88.0,62.5,-3.5,191,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2148,3850
$GC,2092,-0.82,-88.0,68.6,-2.6,206,2097,0.00,2.47,0.00,0.000,4,0.000,0.051,2426,3568,3849
$GC,2138,-0.82,-88.0,70.4,-4.4,209,2142,0.00,2.40,0.00,0.000,6,0.000,0.035,2426,2144,3849
$GC,2339,-0.82,-88.0,77.5,-4.0,225,2344,0.00,2.88,0.00,0.000,4,0.000,0.054,2426,727,3849
$GC,2417,-0.82,-88.0,80.8,-3.9,230,2425,0.00,2.80,0.00,0.000,6,0.000,0.031,2426,2145,3849
$GC,2614,-0.82,-88.0,87.9,-3.5,246,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2145,3849
$STATE,2649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2654,-0.31,0.0,89.3,3.6,249,2726,0.55,0.00,68.65,0.737,6,0.085,0.000,2537,2026,3483
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2727,begin climb
$GC,2729,0.82,88.0,90.2,0.0,255,2803,1.20,2.90,66.25,0.720,4,0.069,0.055,2786,656,3124
$GC,2847,0.84,107.8,84.1,6.9,264,2868,0.00,2.80,14.77,0.734,6,0.000,0.030,2786,2050,3044
$GC,3056,0.87,129.9,69.8,6.8,281,3081,0.00,2.97,16.27,0.725,4,0.000,0.056,2786,663,2953
$GC,3147,0.87,129.9,63.1,8.1,288,3152,0.00,2.75,0.00,0.000,6,0.000,0.030,2786,2051,2953
$GC,3342,0.87,133.8,48.4,7.3,303,3354,0.00,2.97,2.58,0.787,4,0.000,0.056,2786,656,2937
$GC,3406,0.87,133.8,43.6,7.5,308,3411,0.00,2.75,0.00,0.000,6,0.000,0.030,2786,2054,2937
$GC,3608,0.89,152.0,29.3,6.9,324,3627,0.00,2.95,13.65,0.712,4,0.000,0.057,2786,656,2863
$GC,3720,0.90,156.2,21.2,7.3,332,3733,0.00,2.78,2.80,0.770,6,0.000,0.031,2786,2057,2847
$GC,3931,0.95,201.6,7.3,6.2,362,3974,0.15,3.03,33.62,0.679,4,0.056,0.058,2825,657,2661
$STATE,4011,end climb,SURFACE_DEPTH_REACHED
$STATE,4011,begin surface coast
$FINISH,0.6,1.019498
$STATE,4039,end surface coast,CONTROL_FINISHED_OK
$STATE,4039,begin surface
$SM_CCo,4061,74.90,0.656,1,0,2056,350.04
$SM_GC,1.13,0.00,0.00,74.90,0.000,0.000,0.656,364,2149,2056,-10.34,-0.06,350.04
$IRIDIUM_FIX,4722.92,-12253.53,250907,070719
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,74.2,33.1
$24V_AH,24.0,12.154
$10V_AH,10.2,5.038
$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,24.625,60.575,218.600,74.900,0.000,113.566,199.596,153.059,1.500,0.000,0.000,11.312,718.076,2489.083,410.583,654.788,573.355,33.347,797.316,0.000,645.574,0.000,5.543
$DEVICE_MAMPS,149.565,57.525,786.942,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,256.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9607,379
$CFSIZE,260034560,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,043537,4740.258,-12250.079,40,0.9,47,18.3