version: 66.02
glider: 23
mission: 2
dive: 183
start: 9 27 107 11 54 54
data:
$ID,23
$MISSION,2
$DIVE,183
$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,100
$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,-28538.391
$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,2000
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,23
$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
$GPS1,114901,4739.568,-12252.314,40,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.9
$GPS2,115332,4739.579,-12252.331,14,1.3,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.234,0.148
$KALMAN_X,11401.4,-81.8,-14.5,-10536.4,-61.5
$KALMAN_Y,7109.2,-93.6,1.5,-7395.2,-221.3
$MHEAD_RNG_PITCHd_Wd,284.0,225,-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,-97.8,0.0,0.0,0,84,0.00,0.00,-61.88,0.000,2,0.000,0.000,371,1999,3319
$GC,87,-0.66,-97.8,2.1,-3.6,10,130,11.68,2.55,-21.35,0.000,4,0.148,0.061,2461,3416,3884
$GC,202,-0.66,-97.8,6.7,-4.9,28,209,0.00,2.45,0.00,0.000,6,0.000,0.034,2461,1991,3886
$GC,275,-0.66,-97.8,9.2,-3.1,39,281,0.00,2.90,0.00,0.000,4,0.000,0.053,2460,571,3886
$GC,346,-0.66,-97.8,11.5,-3.6,50,353,0.00,2.80,0.00,0.000,6,0.000,0.029,2460,1994,3886
$GC,418,-0.66,-97.8,14.0,-3.5,61,425,0.00,2.50,0.00,0.000,4,0.000,0.048,2461,3423,3886
$GC,551,-0.66,-97.8,19.1,-3.9,81,558,0.00,2.45,0.00,0.000,6,0.000,0.034,2459,1994,3887
$GC,621,-0.66,-97.8,21.3,-3.2,89,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1996,3887
$GC,812,-0.66,-97.8,27.4,-3.4,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1994,3887
$GC,1001,-0.66,-97.8,33.9,-3.7,119,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1994,3888
$GC,1190,-0.66,-97.8,40.7,-3.8,134,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1994,3887
$GC,1381,-0.66,-97.8,47.3,-3.5,149,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1994,3887
$GC,1569,-0.66,-97.8,53.7,-3.4,164,1573,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,576,3887
$GC,1606,-0.66,-97.8,55.2,-4.0,166,1614,0.00,2.83,0.00,0.000,6,0.000,0.029,2461,1997,3888
$GC,1803,-0.66,-97.8,61.7,-3.4,182,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1997,3888
$GC,1994,-0.66,-97.8,68.0,-3.4,197,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1997,3888
$GC,2183,-0.66,-97.8,73.3,-1.8,212,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1996,3888
$GC,2372,-0.66,-97.8,77.3,-2.8,227,2376,0.00,2.92,0.00,0.000,4,0.000,0.052,2461,577,3888
$GC,2458,-0.66,-97.8,80.3,-3.6,233,2463,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2001,3888
$GC,2653,-0.66,-97.8,86.6,-3.0,248,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2000,3887
$GC,2844,-0.66,-97.8,91.8,-2.5,263,2849,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,579,3888
$GC,2882,-0.66,-97.8,93.0,-2.7,265,2889,0.00,2.83,0.00,0.000,6,0.000,0.030,2460,2003,3887
$STATE,3013,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3013,begin apogee
$GC,3019,-0.31,0.0,96.7,2.7,276,3100,0.40,0.00,75.38,0.760,6,0.088,0.000,2540,1531,3483
$STATE,3101,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3103,0.66,97.8,97.3,0.0,283,3181,1.00,0.00,73.75,0.734,6,0.072,0.000,2750,1531,3085
$GC,3364,0.78,205.9,84.6,5.3,304,3454,0.12,2.67,81.10,0.717,4,0.059,0.062,2780,212,2644
$GC,3506,0.79,216.6,75.5,7.2,315,3519,0.00,2.47,7.68,0.742,6,0.000,0.027,2780,1570,2601
$GC,3708,0.83,254.8,61.9,6.7,331,3746,0.00,2.70,28.20,0.722,4,0.000,0.038,2780,2936,2445
$GC,3777,0.87,293.3,57.2,6.7,336,3813,0.00,2.72,28.42,0.716,6,0.000,0.044,2780,1557,2288
$GC,4010,0.93,352.2,41.9,6.3,355,4060,0.15,2.75,43.42,0.704,4,0.058,0.068,2817,208,2048
$GC,4100,0.93,352.2,33.7,10.1,362,4105,0.00,2.38,0.00,0.000,6,0.000,0.027,2817,1544,2048
$GC,4297,0.93,352.2,16.4,8.7,380,4303,0.00,2.62,0.00,0.000,4,0.000,0.067,2817,215,2049
$GC,4322,0.93,352.2,14.0,9.1,384,4329,0.00,2.38,0.00,0.000,6,0.000,0.028,2817,1552,2049
$GC,4394,0.93,352.2,8.1,8.0,395,4401,0.00,2.65,0.00,0.000,4,0.000,0.038,2816,2947,2049
$GC,4413,0.93,352.2,6.7,7.6,398,4420,0.00,2.72,0.00,0.000,6,0.000,0.046,2817,1542,2049
$STATE,4437,end climb,SURFACE_DEPTH_REACHED
$STATE,4437,begin surface coast
$FINISH,1.3,1.020329
$STATE,4511,end surface coast,CONTROL_FINISHED_OK
$STATE,4511,begin surface
$SM_CCo,4592,0.00,0.000,0,0,2045,353.23
$SM_GC,1.06,11.15,0.00,0.00,0.042,0.000,0.000,366,1993,2045,-10.27,-0.23,353.23
$IRIDIUM_FIX,4722.92,-12249.11,270907,141453
$TT8_MAMPS,0.026078
$HUMID,2175
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.1,31.7
$24V_AH,24.0,15.938
$10V_AH,10.2,6.327
$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,24.500,60.875,337.950,0.000,0.000,37.919,32.608,113.910,1.500,0.000,0.000,16.217,759.468,2695.740,435.480,701.308,311.425,33.332,862.097,0.000,685.743,0.000,5.542
$DEVICE_MAMPS,148.031,68.263,760.097,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,278.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12707,413
$CFSIZE,260034560,252764160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,131232,4739.804,-12252.877,8,1.5,26,18.3