version: 66.02
glider: 23
mission: 2
dive: 162
start: 9 26 107 7 59 58
data:
$ID,23
$MISSION,2
$DIVE,162
$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,100
$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,-28777.223
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,27
$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
$GPS1,075351,4739.344,-12253.352,7,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.4
$GPS2,075835,4739.333,-12253.348,10,2.2,29,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.239
$KALMAN_X,10861.8,94.4,30.7,-11487.5,35.1
$KALMAN_Y,8569.6,36.1,113.4,-9548.6,-8.6
$MHEAD_RNG_PITCHd_Wd,11.9,308,-8.8,-7.407
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.66,-97.8,0.0,0.0,0,77,0.00,0.00,-55.30,0.000,2,0.000,0.000,369,2098,3205
$GC,80,-0.66,-97.8,2.1,-3.3,9,124,11.70,2.90,-25.58,0.000,4,0.149,0.060,2461,701,3883
$GC,216,-0.66,-97.8,8.1,-5.3,30,222,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2104,3885
$GC,288,-0.66,-97.8,11.2,-4.0,41,294,0.00,2.92,0.00,0.000,4,0.000,0.050,2461,688,3885
$GC,314,-0.66,-97.8,12.2,-4.0,45,320,0.00,2.83,0.00,0.000,6,0.000,0.031,2461,2110,3885
$GC,386,-0.66,-97.8,14.9,-3.7,56,392,0.00,2.92,0.00,0.000,4,0.000,0.049,2461,693,3885
$GC,418,-0.66,-97.8,15.9,-3.2,61,425,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2103,3886
$GC,490,-0.66,-97.8,18.3,-3.2,72,496,0.00,2.45,0.00,0.000,4,0.000,0.051,2461,3503,3886
$GC,556,-0.66,-97.8,20.5,-3.5,81,560,0.00,2.38,0.00,0.000,6,0.000,0.034,2461,2096,3886
$GC,758,-0.66,-97.8,26.8,-3.2,97,762,0.00,2.88,0.00,0.000,4,0.000,0.053,2461,695,3886
$GC,835,-0.66,-97.8,29.7,-3.7,102,843,0.00,2.83,0.00,0.000,6,0.000,0.031,2461,2105,3886
$GC,1032,-0.66,-97.8,35.2,-2.7,118,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2105,3887
$GC,1222,-0.66,-97.8,41.2,-3.5,133,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2105,3887
$GC,1411,-0.66,-97.8,47.8,-3.5,148,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2105,3887
$GC,1601,-0.66,-97.8,54.4,-3.6,163,1606,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,685,3887
$GC,1646,-0.66,-97.8,56.2,-4.0,166,1651,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2104,3886
$GC,1842,-0.66,-97.8,63.0,-3.2,181,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2103,3887
$GC,2032,-0.66,-97.8,69.3,-3.3,196,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2103,3887
$GC,2221,-0.66,-97.8,76.0,-3.8,211,2226,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,691,3887
$GC,2280,-0.66,-97.8,78.3,-3.6,215,2284,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2113,3886
$GC,2475,-0.66,-97.8,84.9,-3.1,230,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2111,3887
$GC,2665,-0.66,-97.8,92.6,-4.4,245,2669,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,688,3886
$GC,2702,-0.66,-97.8,94.2,-3.9,247,2710,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2095,3886
$STATE,2722,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2722,begin apogee
$GC,2727,-0.31,0.0,95.0,4.0,249,2807,0.40,0.00,75.50,0.747,6,0.087,0.000,2542,1896,3484
$STATE,2808,end apogee,CONTROL_FINISHED_OK
$STATE,2808,begin climb
$GC,2811,0.66,97.8,96.3,0.0,256,2896,0.98,2.92,73.85,0.726,4,0.068,0.054,2750,498,3085
$GC,2948,0.83,252.7,91.1,4.4,267,3075,0.20,2.72,116.93,0.707,6,0.049,0.029,2798,1913,2453
$GC,3271,0.83,252.7,67.8,7.7,293,3276,0.00,2.92,0.00,0.000,4,0.000,0.062,2798,494,2452
$GC,3397,0.83,252.7,57.1,8.7,302,3401,0.00,2.70,0.00,0.000,6,0.000,0.028,2798,1898,2452
$GC,3591,0.83,252.7,41.8,7.8,317,3596,0.00,2.88,0.00,0.000,4,0.000,0.062,2798,500,2452
$GC,3665,0.83,252.7,35.4,8.9,322,3670,0.00,2.70,0.00,0.000,6,0.000,0.028,2798,1910,2451
$GC,3860,0.83,255.4,20.2,7.4,337,3867,0.00,2.95,1.75,0.798,4,0.000,0.061,2799,500,2440
$GC,3947,0.83,255.4,13.2,8.0,349,3953,0.00,2.67,0.00,0.000,6,0.000,0.029,2798,1898,2439
$GC,4019,0.88,301.8,8.2,6.5,360,4061,0.00,2.95,34.30,0.682,4,0.000,0.060,2798,504,2252
$STATE,4066,end climb,SURFACE_DEPTH_REACHED
$STATE,4066,begin surface coast
$FINISH,2.8,1.021090
$STATE,4100,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4122,26.77,0.686,1,0,2056,350.04
$SM_GC,1.57,0.00,0.00,26.77,0.000,0.000,0.686,368,2101,2056,-10.31,0.03,350.04
$IRIDIUM_FIX,4719.74,-12254.47,260907,101005
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.4,32.6
$24V_AH,24.0,14.194
$10V_AH,10.2,5.713
$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,24.400,73.850,302.325,26.775,0.000,38.602,43.521,105.939,2.250,0.000,0.000,31.747,701.483,2357.900,434.604,683.105,306.606,33.338,844.117,0.000,649.629,0.000,10.063
$DEVICE_MAMPS,148.798,62.127,798.447,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,251.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9564,373
$CFSIZE,260034560,253509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,091003,4739.370,-12253.073,8,1.6,9,18.3