version: 66.02
glider: 23
mission: 2
dive: 166
start: 9 26 107 13 14 54
data:
$ID,23
$MISSION,2
$DIVE,166
$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,-28717.436
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,130856,4739.608,-12252.218,36,1.3,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.7
$GPS2,131332,4739.617,-12252.188,13,1.0,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,-0.211
$KALMAN_X,10887.3,59.5,-12.8,-9987.6,-42.7
$KALMAN_Y,7884.7,-96.9,-281.7,-7815.4,-11.7
$MHEAD_RNG_PITCHd_Wd,202.0,385,-8.8,-7.407
$D_GRID,124
$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,-97.8,0.0,0.0,0,71,0.00,0.00,-49.35,0.000,2,0.000,0.000,368,2131,3105
$GC,74,-0.66,-97.8,2.1,-3.5,8,123,11.68,0.00,-30.95,0.000,6,0.146,0.000,2464,2129,3882
$GC,188,-0.66,-97.8,6.6,-4.5,26,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2130,3885
$GC,260,-0.66,-97.8,9.0,-3.0,37,266,0.00,2.97,0.00,0.000,4,0.000,0.049,2464,684,3886
$GC,319,-0.66,-97.8,10.9,-3.5,46,326,0.00,2.80,0.00,0.000,6,0.000,0.032,2464,2089,3886
$GC,391,-0.66,-97.8,12.9,-2.7,57,397,0.00,2.47,0.00,0.000,4,0.000,0.050,2464,3509,3885
$GC,450,-0.66,-97.8,14.9,-3.7,66,456,0.00,2.40,0.00,0.000,6,0.000,0.034,2464,2088,3886
$GC,522,-0.66,-97.8,17.1,-3.4,77,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2089,3886
$GC,593,-0.66,-97.8,19.5,-3.8,88,600,0.00,2.88,0.00,0.000,4,0.000,0.052,2464,685,3886
$GC,664,-0.66,-97.8,22.3,-4.3,95,672,0.00,2.83,0.00,0.000,6,0.000,0.030,2464,2101,3886
$GC,861,-0.66,-97.8,28.8,-3.0,111,865,0.00,2.45,0.00,0.000,4,0.000,0.051,2464,3507,3887
$GC,899,-0.66,-97.8,30.2,-3.6,113,906,0.00,2.42,0.00,0.000,6,0.000,0.033,2464,2092,3887
$GC,1095,-0.66,-97.8,36.6,-3.2,129,1100,0.00,2.85,0.00,0.000,4,0.000,0.053,2464,691,3887
$GC,1141,-0.66,-97.8,38.1,-3.6,132,1145,0.00,2.78,0.00,0.000,6,0.000,0.030,2462,2104,3887
$GC,1336,-0.66,-97.8,43.8,-2.7,147,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2104,3887
$GC,1527,-0.66,-97.8,49.6,-3.4,162,1531,0.00,2.90,0.00,0.000,4,0.000,0.051,2464,696,3887
$GC,1577,-0.66,-97.8,51.5,-3.6,165,1585,0.00,2.80,0.00,0.000,6,0.000,0.031,2464,2099,3887
$GC,1774,-0.66,-97.8,57.8,-3.1,181,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2099,3887
$GC,1964,-0.66,-97.8,64.3,-3.4,196,1969,0.00,2.88,0.00,0.000,4,0.000,0.049,2464,698,3887
$GC,2015,-0.66,-97.8,66.3,-4.1,199,2023,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,2100,3887
$GC,2212,-0.66,-97.8,73.0,-3.3,215,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2098,3887
$GC,2402,-0.66,-97.8,78.8,-2.9,230,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2098,3887
$GC,2591,-0.66,-97.8,84.2,-2.8,245,2596,0.00,2.88,0.00,0.000,4,0.000,0.048,2464,693,3887
$GC,2642,-0.66,-97.8,85.8,-3.5,248,2650,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,2100,3887
$STATE,2711,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2711,begin apogee
$GC,2716,-0.31,0.0,87.8,3.0,254,2798,0.38,0.00,75.65,0.747,6,0.088,0.000,2538,1851,3483
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2800,0.66,97.8,88.1,0.0,261,2885,1.00,2.92,73.45,0.724,4,0.074,0.054,2749,444,3085
$GC,2905,0.76,190.4,83.3,5.6,269,2985,0.12,2.67,69.53,0.711,6,0.054,0.029,2780,1846,2706
$GC,3173,0.81,241.1,65.7,6.4,291,3216,0.00,2.95,37.47,0.706,4,0.000,0.059,2780,442,2500
$GC,3260,0.81,241.1,59.5,7.5,297,3268,0.00,2.70,0.00,0.000,6,0.000,0.028,2780,1846,2500
$GC,3457,0.84,264.9,46.0,7.0,313,3482,0.00,2.90,17.92,0.704,4,0.000,0.061,2780,449,2402
$GC,3540,0.84,264.9,39.8,7.9,319,3548,0.00,2.70,0.00,0.000,6,0.000,0.028,2780,1850,2402
$GC,3737,0.87,291.0,26.4,6.9,335,3762,0.00,2.92,19.20,0.696,4,0.000,0.061,2780,437,2296
$GC,3820,0.87,294.2,20.4,7.3,341,3828,0.00,2.72,1.88,0.779,6,0.000,0.029,2780,1851,2284
$GC,4027,0.95,361.8,7.6,6.1,372,4065,0.15,0.00,34.85,0.673,2,0.059,0.000,2820,1853,2093
$STATE,4065,end climb,SURFACE_DEPTH_REACHED
$STATE,4066,begin surface coast
$FINISH,1.4,1.020213
$STATE,4143,end surface coast,CONTROL_FINISHED_OK
$STATE,4143,begin surface
$SM_CCo,4163,5.72,0.744,0,0,2056,350.04
$SM_GC,1.60,0.00,0.00,5.72,0.000,0.000,0.744,367,2125,2056,-10.32,0.71,350.04
$IRIDIUM_FIX,4722.92,-12253.53,260907,151520
$TT8_MAMPS,0.026845
$HUMID,2142
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,37.1
$24V_AH,24.0,14.524
$10V_AH,10.2,5.829
$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,24.525,67.425,329.950,5.725,0.000,35.565,40.180,116.862,0.750,0.000,0.000,15.798,719.997,2320.025,451.668,685.528,311.522,33.336,875.035,0.000,671.432,0.000,5.548
$DEVICE_MAMPS,146.497,61.360,778.505,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,261.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9614,390
$CFSIZE,260034560,253374464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,142515,4739.545,-12252.358,9,1.5,10,18.3