version: 66.02
glider: 23
mission: 2
dive: 163
start: 9 26 107 9 16 2
data:
$ID,23
$MISSION,2
$DIVE,163
$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,-28763.762
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,091003,4739.370,-12253.073,8,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.9
$GPS2,091439,4739.358,-12253.070,14,1.7,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.252
$KALMAN_X,10844.7,95.5,28.8,-11120.5,11.4
$KALMAN_Y,8023.5,85.7,101.9,-8986.8,-196.5
$MHEAD_RNG_PITCHd_Wd,317.2,260,-8.8,-7.407
$D_GRID,119
$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,-0.66,-97.8,0.0,0.0,0,77,0.00,0.00,-55.25,0.000,2,0.000,0.000,369,2100,3215
$GC,80,-0.66,-97.8,2.2,-3.7,9,124,11.73,2.53,-25.90,0.000,4,0.150,0.062,2459,3510,3883
$GC,249,-0.66,-97.8,9.5,-4.4,35,255,0.00,2.40,0.00,0.000,6,0.000,0.034,2461,2093,3886
$GC,321,-0.66,-97.8,12.4,-4.0,46,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2093,3886
$GC,393,-0.66,-97.8,14.7,-2.9,57,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2093,3886
$GC,465,-0.66,-97.8,16.7,-2.9,68,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2093,3886
$GC,537,-0.66,-97.8,18.9,-3.2,79,544,0.00,2.47,0.00,0.000,4,0.000,0.049,2459,3512,3886
$GC,603,-0.66,-97.8,21.0,-3.5,87,607,0.00,2.38,0.00,0.000,6,0.000,0.035,2461,2098,3886
$GC,805,-0.66,-97.8,27.4,-3.3,103,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2099,3887
$GC,995,-0.66,-97.8,33.6,-3.4,118,999,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,685,3887
$GC,1068,-0.66,-97.8,36.1,-3.3,123,1073,0.00,2.83,0.00,0.000,6,0.000,0.031,2460,2113,3887
$GC,1263,-0.66,-97.8,42.8,-3.7,138,1268,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,696,3887
$GC,1288,-0.66,-97.8,43.7,-3.7,139,1295,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2093,3887
$GC,1484,-0.66,-97.8,51.0,-3.7,155,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2092,3887
$GC,1676,-0.66,-97.8,57.9,-3.6,170,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2092,3887
$GC,1864,-0.66,-97.8,64.1,-3.2,185,1869,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,685,3887
$GC,1896,-0.66,-97.8,65.2,-3.2,187,1901,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2105,3887
$GC,2092,-0.66,-97.8,71.6,-3.6,202,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2105,3887
$GC,2282,-0.66,-97.8,77.9,-3.5,217,2287,0.00,2.90,0.00,0.000,4,0.000,0.051,2460,691,3887
$GC,2334,-0.66,-97.8,80.1,-4.1,220,2341,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2109,3887
$GC,2529,-0.66,-97.8,86.7,-3.5,236,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2109,3887
$STATE,2704,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2704,begin apogee
$GC,2709,-0.31,0.0,93.2,4.1,250,2791,0.40,0.00,75.68,0.751,6,0.085,0.000,2541,1897,3483
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2792,begin climb
$GC,2794,0.66,97.8,94.4,0.0,257,2871,0.98,0.00,73.38,0.735,6,0.070,0.000,2749,1897,3085
$GC,3056,0.80,227.7,83.0,4.9,278,3166,0.17,2.97,97.80,0.710,4,0.050,0.061,2793,499,2555
$GC,3289,0.80,227.7,65.0,8.0,296,3297,0.00,2.72,0.00,0.000,6,0.000,0.028,2793,1903,2553
$GC,3487,0.80,229.0,50.4,7.4,312,3491,0.00,2.90,0.00,0.000,4,0.000,0.061,2793,493,2553
$GC,3558,0.80,229.0,44.2,8.6,317,3562,0.00,2.70,0.00,0.000,6,0.000,0.029,2793,1901,2554
$GC,3760,0.80,229.0,28.4,7.6,333,3765,0.00,2.88,0.00,0.000,4,0.000,0.061,2793,500,2553
$GC,3838,0.80,229.0,22.1,8.3,338,3846,0.00,2.72,0.00,0.000,6,0.000,0.029,2793,1908,2553
$GC,4043,0.84,263.0,7.5,6.8,367,4079,0.00,3.00,26.50,0.682,4,0.000,0.060,2793,494,2410
$STATE,4083,end climb,SURFACE_DEPTH_REACHED
$STATE,4083,begin surface coast
$FINISH,1.2,1.020317
$STATE,4151,end surface coast,CONTROL_FINISHED_OK
$STATE,4151,begin surface
$SM_CCo,4174,44.65,0.667,0,0,2057,350.04
$SM_GC,0.93,0.00,0.00,44.65,0.000,0.000,0.667,369,2096,2057,-10.31,-0.11,350.04
$IRIDIUM_FIX,4722.92,-12256.21,260907,111127
$TT8_MAMPS,0.026845
$HUMID,2170
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.1,34.1
$24V_AH,24.0,14.269
$10V_AH,10.2,5.741
$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,24.350,56.125,273.350,44.650,0.000,38.319,42.410,111.499,2.000,0.000,0.000,16.389,715.954,2418.308,423.871,673.208,307.880,33.336,824.354,0.000,658.125,0.000,11.230
$DEVICE_MAMPS,149.565,62.127,750.893,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,258.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9584,384
$CFSIZE,260034560,253480960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,102738,4739.535,-12253.161,35,1.0,36,18.3