version: 66.02
glider: 23
mission: 2
dive: 145
start: 9 25 107 18 6 1
data:
$ID,23
$MISSION,2
$DIVE,145
$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,-28745.459
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,180014,4740.474,-12252.005,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.9
$GPS2,180439,4740.465,-12252.033,11,1.9,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,-0.279
$KALMAN_X,9330.1,429.4,169.3,-8788.0,24.2
$KALMAN_Y,7935.7,229.0,139.0,-7043.4,138.4
$MHEAD_RNG_PITCHd_Wd,174.9,1906,-8.2,-7.407
$D_GRID,102
$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,-0.60,-78.2,0.0,0.0,0,89,0.00,0.00,-66.65,0.000,2,0.000,0.000,370,2166,3290
$GC,92,-0.60,-78.2,2.1,-3.3,11,129,11.77,0.00,-22.00,0.000,6,0.148,0.000,2473,2166,3803
$GC,194,-0.60,-78.2,5.3,-4.1,27,201,0.00,2.97,0.00,0.000,4,0.000,0.049,2473,724,3805
$GC,452,-0.60,-78.2,13.0,-3.1,66,458,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2156,3806
$GC,524,-0.60,-78.2,14.8,-2.5,77,530,0.00,2.90,0.00,0.000,4,0.000,0.048,2473,735,3807
$GC,576,-0.60,-78.2,16.1,-2.7,85,583,0.00,2.80,0.00,0.000,6,0.000,0.030,2473,2157,3806
$GC,648,-0.60,-78.2,17.9,-2.2,96,654,0.00,2.45,0.00,0.000,4,0.000,0.051,2473,3565,3806
$GC,687,-0.60,-78.2,18.9,-2.9,102,693,0.00,2.38,0.00,0.000,6,0.000,0.033,2473,2151,3806
$GC,764,-0.60,-78.2,20.8,-2.4,112,769,0.00,2.88,0.00,0.000,4,0.000,0.051,2473,738,3806
$GC,823,-0.60,-78.2,22.5,-2.8,116,828,0.00,2.78,0.00,0.000,6,0.000,0.030,2473,2150,3805
$GC,1019,-0.60,-78.2,27.5,-2.5,131,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2149,3806
$GC,1209,-0.60,-78.2,32.1,-2.3,146,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2149,3807
$GC,1400,-0.60,-78.2,35.9,-1.7,161,1404,0.00,2.90,0.00,0.000,4,0.000,0.051,2473,733,3808
$GC,1471,-0.60,-78.2,37.5,-2.2,166,1476,0.00,2.80,0.00,0.000,6,0.000,0.031,2473,2156,3808
$GC,1667,-0.60,-78.2,41.5,-2.3,181,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2156,3808
$GC,1859,-0.60,-78.2,46.2,-2.6,196,1863,0.00,2.92,0.00,0.000,4,0.000,0.051,2473,725,3807
$GC,1909,-0.60,-78.2,47.6,-2.7,199,1917,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2148,3807
$GC,2106,-0.60,-78.2,52.5,-2.5,215,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2146,3808
$GC,2298,-0.60,-78.2,57.0,-2.4,230,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2146,3808
$GC,2485,-0.60,-78.2,61.3,-2.3,245,2490,0.00,2.90,0.00,0.000,4,0.000,0.051,2473,726,3807
$GC,2523,-0.60,-78.2,62.3,-2.7,247,2530,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2150,3807
$STATE,2706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2706,begin apogee
$GC,2711,-0.31,0.0,66.3,2.0,262,2779,0.32,0.00,60.55,0.730,6,0.087,0.000,2538,1690,3483
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2782,0.60,78.2,66.7,0.0,268,2852,0.95,2.75,59.03,0.710,4,0.071,0.044,2736,3112,3163
$GC,2864,0.75,216.9,63.4,5.0,275,2977,0.17,2.65,104.18,0.690,6,0.051,0.038,2779,1693,2599
$GC,3164,0.77,232.8,42.8,7.1,299,3180,0.00,2.85,11.52,0.704,4,0.000,0.066,2779,292,2533
$GC,3207,0.77,232.8,39.5,7.6,302,3212,0.00,2.60,0.00,0.000,6,0.000,0.028,2779,1692,2533
$GC,3410,0.80,266.8,25.5,6.8,318,3437,0.00,0.00,25.45,0.683,6,0.000,0.000,2779,1694,2396
$GC,3629,0.88,333.9,11.5,6.2,345,3685,0.00,2.92,49.80,0.664,4,0.000,0.064,2779,283,2121
$GC,3724,0.93,385.9,5.6,6.5,360,3739,0.17,2.62,8.57,0.691,2,0.074,0.028,2815,1710,2075
$STATE,3740,end climb,SURFACE_DEPTH_REACHED
$STATE,3740,begin surface coast
$FINISH,0.3,1.007374
$STATE,3830,end surface coast,CONTROL_FINISHED_OK
$STATE,3831,begin surface
$SM_CCo,3851,2.38,0.776,0,0,2057,350.04
$SM_GC,1.95,0.00,0.00,2.38,0.000,0.000,0.776,365,2162,2057,-10.32,0.34,350.04
$IRIDIUM_FIX,4726.11,-12250.84,250907,202035
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,24.0,13.058
$10V_AH,10.2,5.365
$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,24.525,57.350,319.100,2.375,0.000,38.119,32.965,120.403,0.750,0.000,0.000,12.612,685.802,2137.222,418.997,624.664,296.436,33.334,803.131,0.000,616.891,0.000,2.451
$DEVICE_MAMPS,148.031,65.962,730.184,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,252.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9588,376
$CFSIZE,260034560,253939712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,191137,4740.191,-12252.237,33,1.3,40,18.3