version: 66.02
glider: 23
mission: 2
dive: 165
start: 9 26 107 11 55 49
data:
$ID,23
$MISSION,2
$DIVE,165
$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,-28732.488
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,46
$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
$GPS1,114950,4739.493,-12252.791,12,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.7
$GPS2,115426,4739.492,-12252.801,13,1.9,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.263,0.085
$KALMAN_X,10834.1,70.9,-8.9,-10709.1,-26.3
$KALMAN_Y,7742.5,-19.7,-185.6,-8074.6,-213.4
$MHEAD_RNG_PITCHd_Wd,53.9,500,-8.8,-7.407
$D_GRID,123
$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,-97.8,0.0,0.0,0,78,0.00,0.00,-56.15,0.000,2,0.000,0.000,370,2125,3084
$GC,81,-0.66,-97.8,2.0,-2.9,9,136,11.70,2.42,-34.97,0.000,4,0.148,0.062,2463,3486,3884
$GC,296,-0.66,-97.8,11.3,-5.1,42,302,0.00,2.35,0.00,0.000,6,0.000,0.034,2463,2099,3885
$GC,368,-0.66,-97.8,13.8,-3.0,53,374,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,684,3885
$GC,413,-0.66,-97.8,15.1,-2.9,60,420,0.00,2.78,0.00,0.000,6,0.000,0.030,2463,2087,3885
$GC,486,-0.66,-97.8,16.9,-2.3,71,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2086,3886
$GC,557,-0.66,-97.8,19.5,-4.1,82,563,0.00,2.88,0.00,0.000,4,0.000,0.049,2463,693,3886
$GC,583,-0.66,-97.8,20.5,-4.2,85,587,0.00,2.80,0.00,0.000,6,0.000,0.030,2463,2108,3886
$GC,778,-0.66,-97.8,27.9,-4.0,100,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2108,3886
$GC,968,-0.66,-97.8,34.4,-3.4,115,973,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,696,3887
$GC,1021,-0.66,-97.8,36.3,-3.7,118,1027,0.00,2.78,0.00,0.000,6,0.000,0.031,2463,2100,3887
$GC,1216,-0.66,-97.8,42.4,-3.1,134,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2099,3887
$GC,1406,-0.66,-97.8,49.4,-3.9,149,1411,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,694,3887
$GC,1438,-0.66,-97.8,50.8,-4.3,151,1443,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2107,3887
$GC,1634,-0.66,-97.8,57.9,-3.6,166,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2107,3887
$GC,1825,-0.66,-97.8,64.9,-3.6,181,1830,0.00,2.92,0.00,0.000,4,0.000,0.051,2463,687,3887
$GC,1876,-0.66,-97.8,67.1,-4.2,184,1884,0.00,2.83,0.00,0.000,6,0.000,0.031,2463,2103,3887
$GC,2073,-0.66,-97.8,73.9,-3.6,200,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2101,3886
$GC,2265,-0.66,-97.8,80.3,-3.4,215,2269,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,696,3887
$GC,2302,-0.66,-97.8,81.9,-4.0,217,2310,0.00,2.80,0.00,0.000,6,0.000,0.031,2464,2101,3887
$GC,2499,-0.66,-97.8,88.5,-3.2,233,2503,0.00,2.90,0.00,0.000,4,0.000,0.050,2463,687,3887
$GC,2537,-0.66,-97.8,89.7,-3.0,235,2544,0.00,2.83,0.00,0.000,6,0.000,0.030,2463,2103,3887
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2712,-0.31,0.0,95.2,3.1,249,2793,0.38,0.00,75.53,0.751,6,0.084,0.000,2538,1844,3484
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,0.66,97.8,96.0,0.0,256,2877,1.02,0.00,74.15,0.728,6,0.067,0.000,2753,1844,3085
$GC,3066,0.79,215.0,82.6,5.2,278,3164,0.12,2.90,88.15,0.710,4,0.060,0.057,2782,447,2606
$GC,3243,0.79,215.0,70.2,7.5,292,3248,0.00,2.65,0.00,0.000,6,0.000,0.030,2781,1841,2606
$GC,3446,0.79,221.0,55.6,7.3,308,3459,0.00,2.90,4.35,0.759,4,0.000,0.061,2782,441,2582
$GC,3503,0.79,221.0,51.1,7.8,312,3511,0.00,2.70,0.00,0.000,6,0.000,0.028,2782,1846,2582
$GC,3700,0.80,226.3,36.9,7.3,328,3713,0.00,2.90,3.72,0.759,4,0.000,0.060,2783,447,2560
$GC,3770,0.80,226.3,31.5,7.8,333,3778,0.00,2.70,0.00,0.000,6,0.000,0.029,2782,1850,2560
$GC,3968,0.82,244.5,17.8,7.1,351,3988,0.00,2.90,13.23,0.706,4,0.000,0.061,2782,441,2486
$GC,4041,0.87,293.5,13.0,6.5,362,4084,0.00,2.67,36.55,0.678,6,0.000,0.029,2782,1853,2286
$GC,4150,0.96,373.0,6.2,5.9,379,4170,0.17,0.00,17.33,0.685,2,0.060,0.000,2823,1853,2191
$STATE,4170,end climb,SURFACE_DEPTH_REACHED
$STATE,4170,begin surface coast
$FINISH,0.5,1.019763
$STATE,4261,end surface coast,CONTROL_FINISHED_OK
$STATE,4261,begin surface
$SM_CCo,4281,20.58,0.704,1,0,2056,350.04
$SM_GC,1.15,0.00,0.00,20.58,0.000,0.000,0.704,368,2131,2056,-10.31,0.85,350.04
$IRIDIUM_FIX,4722.92,-12249.11,260907,141422
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,32.1
$24V_AH,24.0,14.445
$10V_AH,10.2,5.801
$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,24.525,68.050,313.000,20.575,0.000,38.020,40.100,116.187,1.000,0.000,0.000,15.390,724.280,2444.240,466.191,675.455,317.757,33.330,878.599,0.000,661.437,0.000,5.539
$DEVICE_MAMPS,148.031,62.127,759.330,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,265.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,396
$CFSIZE,260034560,253407232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,130856,4739.608,-12252.218,36,1.3,37,18.3