version: 66.02
glider: 23
mission: 2
dive: 185
start: 9 27 107 14 43 17
data:
$ID,23
$MISSION,2
$DIVE,185
$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,-28539.416
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,143659,4739.645,-12252.391,8,3.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.1
$GPS2,144155,4739.632,-12252.389,40,1.2,40,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.026,-0.275
$KALMAN_X,11429.5,-79.3,-82.1,-10571.1,23.4
$KALMAN_Y,7382.2,-47.0,-204.9,-7413.1,107.3
$MHEAD_RNG_PITCHd_Wd,167.1,306,-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,-97.8,0.0,0.0,0,109,0.00,0.00,-85.68,0.000,2,0.000,0.000,368,1984,3815
$GC,111,-0.66,-97.8,2.4,-1.1,14,131,11.75,2.95,-1.77,0.000,4,0.150,0.062,2464,582,3885
$GC,382,-0.66,-97.8,14.3,-3.2,55,389,0.00,2.78,0.00,0.000,6,0.000,0.030,2464,1994,3888
$GC,454,-0.66,-97.8,16.2,-2.7,66,461,0.00,2.90,0.00,0.000,4,0.000,0.049,2464,580,3888
$GC,513,-0.66,-97.8,18.2,-4.0,75,520,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,1999,3889
$GC,585,-0.66,-97.8,20.4,-3.0,85,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,776,-0.66,-97.8,26.8,-3.5,100,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,964,-0.66,-97.8,33.4,-3.4,115,969,0.00,2.92,0.00,0.000,4,0.000,0.052,2464,581,3889
$GC,996,-0.66,-97.8,34.7,-4.1,117,1001,0.00,2.80,0.00,0.000,6,0.000,0.031,2464,1999,3889
$GC,1192,-0.66,-97.8,41.7,-3.5,132,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,1382,-0.66,-97.8,48.2,-3.3,147,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,1571,-0.66,-97.8,54.2,-3.1,162,1576,0.00,2.92,0.00,0.000,4,0.000,0.053,2464,584,3890
$GC,1630,-0.66,-97.8,56.3,-3.6,166,1635,0.00,2.80,0.00,0.000,6,0.000,0.031,2464,2002,3890
$GC,1825,-0.66,-97.8,62.5,-3.3,181,1829,0.00,2.47,0.00,0.000,4,0.000,0.051,2464,3421,3889
$GC,1884,-0.66,-97.8,64.7,-3.7,185,1890,0.00,2.45,0.00,0.000,6,0.000,0.035,2464,1997,3890
$GC,2080,-0.66,-97.8,71.5,-3.4,201,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,2270,-0.66,-97.8,77.9,-3.3,216,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1998,3890
$GC,2461,-0.66,-97.8,84.0,-3.2,231,2465,0.00,2.92,0.00,0.000,4,0.000,0.054,2464,574,3889
$GC,2495,-0.66,-97.8,85.2,-3.5,233,2500,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,1999,3889
$GC,2693,-0.66,-97.8,90.3,-2.3,248,2697,0.00,2.45,0.00,0.000,4,0.000,0.051,2464,3414,3890
$GC,2771,-0.66,-97.8,92.4,-2.7,253,2778,0.00,2.45,0.00,0.000,6,0.000,0.036,2464,1994,3890
$GC,2967,-0.66,-97.8,97.2,-2.9,269,2971,0.00,2.90,0.00,0.000,4,0.000,0.054,2464,579,3889
$STATE,3003,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3003,begin apogee
$GC,3010,-0.31,0.0,98.5,3.2,271,3089,0.35,0.00,75.68,0.763,6,0.087,0.000,2537,1576,3484
$STATE,3090,end apogee,CONTROL_FINISHED_OK
$STATE,3090,begin climb
$GC,3092,0.66,97.8,99.4,0.0,278,3177,1.00,2.72,74.00,0.735,4,0.072,0.043,2746,2935,3084
$GC,3191,0.77,202.8,95.2,5.4,286,3277,0.15,2.72,78.65,0.721,6,0.050,0.041,2784,1541,2657
$GC,3465,0.77,202.8,75.2,7.7,308,3469,0.00,2.67,0.00,0.000,4,0.000,0.039,2784,2934,2657
$GC,3515,0.77,202.8,71.1,8.1,311,3523,0.00,2.75,0.00,0.000,6,0.000,0.045,2784,1546,2656
$GC,3712,0.77,202.8,56.5,7.5,327,3716,0.00,2.65,0.00,0.000,4,0.000,0.039,2784,2937,2656
$GC,3751,0.78,210.6,53.7,7.3,330,3764,0.00,2.70,6.00,0.750,6,0.000,0.044,2784,1547,2625
$GC,3953,0.79,220.5,39.1,7.2,346,3966,0.00,2.67,7.32,0.742,4,0.000,0.038,2782,2938,2584
$GC,3984,0.79,220.5,36.7,7.8,348,3992,0.00,2.75,0.00,0.000,6,0.000,0.044,2784,1544,2583
$GC,4181,0.84,268.0,22.8,6.5,364,4218,0.00,0.00,34.92,0.693,6,0.000,0.000,2784,1545,2391
$GC,4416,0.91,325.0,7.5,6.3,396,4460,0.10,0.00,40.88,0.675,2,0.068,0.000,2806,1545,2165
$STATE,4460,end climb,SURFACE_DEPTH_REACHED
$STATE,4461,begin surface coast
$FINISH,0.9,1.020242
$STATE,4558,end surface coast,CONTROL_FINISHED_OK
$STATE,4558,begin surface
$SM_CCo,4579,17.08,0.711,1,0,2056,350.04
$SM_GC,1.03,0.00,0.00,17.08,0.000,0.000,0.711,367,1980,2056,-10.32,-0.57,350.04
$IRIDIUM_FIX,4722.92,-12254.47,270907,171709
$TT8_MAMPS,0.026845
$HUMID,2150
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.3,32.0
$24V_AH,24.0,16.098
$10V_AH,10.2,6.387
$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,24.475,65.775,317.450,17.075,0.000,40.593,34.231,109.758,1.500,0.000,0.000,42.920,769.544,2671.517,443.048,739.983,317.021,33.340,866.308,0.000,696.844,0.000,10.063
$DEVICE_MAMPS,149.565,62.127,763.165,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,281.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12714,418
$CFSIZE,260034560,252690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,160051,4739.416,-12252.138,9,1.3,10,18.3