version: 66.02
glider: 23
mission: 2
dive: 144
start: 9 25 107 16 54 1
data:
$ID,23
$MISSION,2
$DIVE,144
$D_SURF,5
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28761.148
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,32
$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
$GPS1,164808,4740.662,-12251.905,25,1.8,26,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.0
$GPS2,165239,4740.651,-12251.905,12,1.5,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,-0.263
$KALMAN_X,9215.9,454.1,115.6,-8489.7,118.5
$KALMAN_Y,7668.1,222.3,106.1,-6390.9,45.5
$MHEAD_RNG_PITCHd_Wd,185.0,2280,-8.2,-7.407
$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,21,-0.60,-78.2,0.0,0.0,0,89,0.00,0.00,-66.47,0.000,2,0.000,0.000,366,2166,3343
$GC,92,-0.60,-78.2,2.1,-3.3,11,130,11.80,2.42,-19.52,0.000,4,0.148,0.063,2477,3563,3803
$GC,150,-0.60,-78.2,3.3,-4.3,20,156,0.00,2.40,0.00,0.000,6,0.000,0.032,2477,2141,3804
$GC,222,-0.60,-78.2,6.7,-4.3,31,228,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,727,3805
$GC,433,-0.60,-78.2,13.1,-3.0,63,439,0.00,2.83,0.00,0.000,6,0.000,0.031,2477,2156,3805
$GC,505,-0.60,-78.2,14.8,-2.3,74,511,0.00,2.42,0.00,0.000,4,0.000,0.050,2477,3555,3805
$GC,530,-0.60,-78.2,15.4,-2.2,78,537,0.00,2.38,0.00,0.000,6,0.000,0.032,2477,2148,3805
$GC,602,-0.60,-78.2,16.8,-1.9,89,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2148,3806
$GC,674,-0.60,-78.2,18.5,-2.4,100,680,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,722,3806
$GC,784,-0.60,-78.2,21.2,-2.7,114,792,0.00,2.85,0.00,0.000,6,0.000,0.031,2477,2153,3806
$GC,981,-0.60,-78.2,25.3,-2.2,130,985,0.00,2.45,0.00,0.000,4,0.000,0.051,2477,3565,3806
$GC,1007,-0.60,-78.2,25.9,-2.4,132,1011,0.00,2.38,0.00,0.000,6,0.000,0.033,2477,2151,3806
$GC,1202,-0.60,-78.2,29.7,-1.9,147,1207,0.00,2.90,0.00,0.000,4,0.000,0.053,2477,733,3806
$GC,1328,-0.60,-78.2,32.6,-2.4,156,1333,0.00,2.80,0.00,0.000,6,0.000,0.031,2477,2152,3806
$GC,1523,-0.60,-78.2,36.7,-2.1,171,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2152,3806
$GC,1714,-0.60,-78.2,40.8,-2.0,186,1718,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,734,3806
$GC,1751,-0.60,-78.2,41.8,-2.3,188,1759,0.00,2.83,0.00,0.000,6,0.000,0.031,2477,2155,3806
$GC,1948,-0.60,-78.2,46.3,-2.2,204,1952,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,735,3806
$GC,1993,-0.60,-78.2,47.4,-2.5,207,1998,0.00,2.80,0.00,0.000,6,0.000,0.031,2477,2157,3806
$GC,2189,-0.60,-78.2,52.4,-2.5,222,2193,0.00,2.92,0.00,0.000,4,0.000,0.051,2477,726,3806
$GC,2234,-0.60,-78.2,53.8,-3.0,225,2239,0.00,2.80,0.00,0.000,6,0.000,0.031,2477,2154,3806
$GC,2430,-0.60,-78.2,58.8,-2.5,240,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2155,3806
$GC,2620,-0.60,-78.2,62.8,-2.2,255,2624,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,738,3806
$GC,2665,-0.60,-78.2,63.9,-2.2,258,2670,0.00,2.78,0.00,0.000,6,0.000,0.030,2477,2151,3806
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2712,-0.31,0.0,64.6,1.6,261,2776,0.32,0.00,60.42,0.726,6,0.089,0.000,2541,1691,3484
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2778,0.60,78.2,64.7,0.0,266,2841,0.93,0.00,58.78,0.709,6,0.070,0.000,2737,1691,3165
$GC,3028,0.73,202.5,52.1,5.2,286,3129,0.15,2.88,93.07,0.688,4,0.056,0.060,2773,293,2658
$GC,3229,0.76,228.8,38.5,6.9,302,3255,0.00,2.58,19.42,0.690,6,0.000,0.028,2773,1691,2550
$GC,3443,0.82,283.3,24.7,6.4,319,3485,0.00,0.00,40.58,0.670,6,0.000,0.000,2773,1691,2329
$GC,3675,0.95,403.3,10.5,5.3,348,3755,0.20,0.00,76.95,0.651,2,0.051,0.000,2820,1691,1909
$STATE,3757,end climb,SURFACE_DEPTH_REACHED
$STATE,3757,begin surface coast
$FINISH,0.7,1.020483
$STATE,3841,end surface coast,CONTROL_FINISHED_OK
$STATE,3841,begin surface
$SM_CCo,3921,0.00,0.000,0,0,1906,386.84
$SM_GC,1.09,11.12,0.00,0.00,0.038,0.000,0.000,370,2166,1906,-10.25,0.45,386.84
$IRIDIUM_FIX,4726.11,-12253.53,250907,191947
$TT8_MAMPS,0.026845
$HUMID,2171
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,23.9,12.985
$10V_AH,10.2,5.339
$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,24.525,61.750,349.225,0.000,0.000,37.703,32.514,124.471,0.750,0.000,0.000,14.323,681.842,2165.672,433.526,651.836,300.651,33.336,836.566,0.000,641.048,0.000,2.451
$DEVICE_MAMPS,148.031,62.894,726.349,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,250.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,374
$CFSIZE,260034560,253968384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,180014,4740.474,-12252.005,12,2.0,12,18.3