version: 66.02
glider: 23
mission: 2
dive: 164
start: 9 26 107 10 40 54
data:
$ID,23
$MISSION,2
$DIVE,164
$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,-28749.498
$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,26
$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
$GPS1,102738,4739.535,-12253.161,35,1.0,36,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.8
$GPS2,103932,4739.522,-12253.210,14,1.2,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.270,0.094
$KALMAN_X,10967.5,87.4,30.3,-11413.8,-32.6
$KALMAN_Y,7788.9,70.9,-6.3,-8331.5,-327.8
$MHEAD_RNG_PITCHd_Wd,52.4,1014,-8.2,-7.407
$D_GRID,116
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.62,-97.8,0.0,0.0,0,79,0.00,0.00,-55.92,0.000,2,0.000,0.000,369,2096,3226
$GC,82,-0.62,-97.8,2.1,-3.3,9,131,11.70,2.50,-28.35,0.000,4,0.146,0.062,2469,3502,3883
$GC,203,-0.62,-97.8,5.8,-4.3,28,210,0.00,2.38,0.00,0.000,6,0.000,0.033,2469,2097,3885
$GC,275,-0.62,-97.8,8.0,-3.5,39,282,0.00,2.88,0.00,0.000,4,0.000,0.051,2469,692,3885
$GC,400,-0.62,-97.8,12.5,-3.5,58,407,0.00,2.80,0.00,0.000,6,0.000,0.029,2469,2108,3886
$GC,473,-0.62,-97.8,14.7,-2.6,69,479,0.00,2.42,0.00,0.000,4,0.000,0.050,2468,3499,3886
$GC,499,-0.62,-97.8,15.5,-3.2,73,505,0.00,2.38,0.00,0.000,6,0.000,0.033,2469,2095,3886
$GC,571,-0.62,-97.8,17.6,-3.0,84,578,0.00,2.88,0.00,0.000,4,0.000,0.051,2469,688,3887
$GC,604,-0.62,-97.8,18.5,-3.0,89,610,0.00,2.80,0.00,0.000,6,0.000,0.029,2468,2107,3887
$GC,683,-0.62,-97.8,20.8,-3.0,99,687,0.00,2.42,0.00,0.000,4,0.000,0.051,2469,3502,3887
$GC,715,-0.62,-97.8,21.9,-3.2,101,719,0.00,2.38,0.00,0.000,6,0.000,0.033,2468,2093,3887
$GC,910,-0.62,-97.8,27.7,-3.2,116,915,0.00,2.88,0.00,0.000,4,0.000,0.053,2469,690,3888
$GC,969,-0.62,-97.8,29.7,-3.6,120,974,0.00,2.80,0.00,0.000,6,0.000,0.030,2469,2111,3888
$GC,1164,-0.62,-97.8,35.4,-3.0,135,1168,0.00,2.42,0.00,0.000,4,0.000,0.051,2469,3500,3888
$GC,1217,-0.62,-97.8,37.2,-3.6,139,1221,0.00,2.38,0.00,0.000,6,0.000,0.035,2469,2098,3888
$GC,1412,-0.62,-97.8,43.3,-3.2,154,1417,0.00,2.88,0.00,0.000,4,0.000,0.054,2469,686,3888
$GC,1471,-0.62,-97.8,45.3,-3.3,158,1476,0.00,2.80,0.00,0.000,6,0.000,0.031,2468,2108,3888
$GC,1666,-0.62,-97.8,50.9,-2.6,173,1670,0.00,2.42,0.00,0.000,4,0.000,0.052,2468,3506,3888
$GC,1737,-0.62,-97.8,53.2,-3.5,178,1745,0.00,2.40,0.00,0.000,6,0.000,0.035,2468,2104,3888
$GC,1934,-0.62,-97.8,58.9,-3.1,194,1938,0.00,2.90,0.00,0.000,4,0.000,0.053,2469,682,3887
$GC,1979,-0.62,-97.8,60.2,-3.0,197,1984,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2102,3888
$GC,2175,-0.62,-97.8,65.9,-2.8,212,2179,0.00,2.45,0.00,0.000,4,0.000,0.052,2469,3509,3888
$GC,2199,-0.62,-97.8,66.7,-3.3,213,2207,0.00,2.42,0.00,0.000,6,0.000,0.035,2469,2089,3888
$GC,2396,-0.62,-97.8,72.1,-2.6,229,2401,0.00,2.88,0.00,0.000,4,0.000,0.054,2469,687,3888
$GC,2442,-0.62,-97.8,73.8,-4.0,232,2446,0.00,2.80,0.00,0.000,6,0.000,0.031,2468,2109,3888
$GC,2637,-0.62,-97.8,80.2,-3.3,247,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2108,3888
$STATE,2711,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2711,begin apogee
$GC,2716,-0.31,0.0,82.4,3.0,253,2798,0.35,0.00,75.70,0.742,6,0.084,0.000,2539,1897,3483
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2801,0.62,97.8,83.2,0.0,260,2886,0.95,2.92,73.30,0.718,4,0.067,0.055,2741,497,3085
$GC,2912,0.74,207.2,78.0,5.5,269,3001,0.12,2.72,82.30,0.703,6,0.054,0.029,2774,1911,2639
$GC,3198,0.79,258.4,59.6,6.5,292,3241,0.00,3.00,37.78,0.702,4,0.000,0.060,2774,500,2429
$GC,3312,0.80,266.0,51.3,7.3,300,3324,0.00,2.72,5.80,0.732,6,0.000,0.029,2774,1900,2398
$GC,3522,0.81,272.6,36.3,7.3,317,3534,0.00,2.92,4.78,0.738,4,0.000,0.061,2774,500,2371
$GC,3601,0.81,274.9,30.4,7.4,323,3606,0.00,2.70,0.00,0.000,6,0.000,0.029,2774,1907,2371
$GC,3798,0.88,342.1,17.8,6.2,340,3859,0.12,2.97,51.30,0.673,4,0.062,0.061,2805,503,2089
$GC,3945,0.93,386.2,6.9,6.6,363,3983,0.00,2.70,32.47,0.663,2,0.000,0.030,2805,1911,1912
$STATE,3984,end climb,SURFACE_DEPTH_REACHED
$STATE,3984,begin surface coast
$FINISH,3.4,1.021866
$STATE,4002,end surface coast,CONTROL_FINISHED_OK
$STATE,4003,begin surface
$SM_CCo,4083,0.00,0.000,0,0,1910,386.35
$SM_GC,1.15,11.20,0.00,0.00,0.044,0.000,0.000,369,2125,1910,-10.25,0.74,386.35
$IRIDIUM_FIX,4722.92,-12253.53,260907,141448
$TT8_MAMPS,0.026845
$HUMID,2150
$TCM_TEMP,19.80
$XPDR_PINGS,5
$24V_AH,24.0,14.367
$10V_AH,10.2,5.773
$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,24.450,86.550,363.425,0.000,0.000,118.862,122.976,258.924,1.750,0.000,0.000,15.964,693.363,2372.435,461.877,677.940,633.107,33.338,896.222,0.000,662.677,0.000,3.970
$DEVICE_MAMPS,146.497,62.127,741.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,249.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9581,372
$CFSIZE,260034560,253440000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,114950,4739.493,-12252.791,12,1.8,13,18.3