version: 66.02
glider: 23
mission: 2
dive: 188
start: 9 27 107 18 53 13
data:
$ID,23
$MISSION,2
$DIVE,188
$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,-28498.488
$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,1900
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,184708,4739.325,-12252.968,7,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.7
$GPS2,185151,4739.314,-12252.987,11,1.2,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.251,0.115
$KALMAN_X,11841.3,44.7,91.1,-12027.1,125.2
$KALMAN_Y,7490.5,66.4,63.8,-8482.4,98.3
$MHEAD_RNG_PITCHd_Wd,276.4,390,-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,-97.8,0.0,0.0,0,102,0.00,0.00,-79.53,0.000,2,0.000,0.000,368,1987,3732
$GC,105,-0.66,-97.8,2.3,-1.6,13,130,11.77,3.12,-3.92,0.000,4,0.151,0.065,2462,490,3885
$GC,381,-0.66,-97.8,17.9,-3.9,55,388,0.00,2.72,0.00,0.000,6,0.000,0.029,2462,1914,3888
$GC,453,-0.66,-97.8,20.1,-3.1,66,458,0.00,2.88,0.00,0.000,4,0.000,0.051,2462,481,3888
$GC,512,-0.66,-97.8,22.3,-3.8,70,517,0.00,2.72,0.00,0.000,6,0.000,0.029,2462,1907,3888
$GC,708,-0.66,-97.8,28.8,-3.3,85,712,0.00,2.55,0.00,0.000,4,0.000,0.048,2462,3316,3889
$GC,746,-0.66,-97.8,30.1,-3.7,87,753,0.00,2.58,0.00,0.000,6,0.000,0.035,2462,1890,3889
$GC,942,-0.66,-97.8,36.0,-3.0,103,946,0.00,2.55,0.00,0.000,4,0.000,0.048,2462,3301,3889
$GC,981,-0.66,-97.8,37.3,-3.5,106,985,0.00,2.53,0.00,0.000,6,0.000,0.036,2462,1890,3889
$GC,1177,-0.66,-97.8,44.0,-3.6,121,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1890,3889
$GC,1367,-0.66,-97.8,50.9,-3.5,136,1372,0.00,2.58,0.00,0.000,4,0.000,0.048,2462,3307,3888
$GC,1405,-0.66,-97.8,52.6,-4.2,138,1412,0.00,2.53,0.00,0.000,6,0.000,0.036,2462,1904,3890
$GC,1601,-0.66,-97.8,59.9,-3.5,154,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1905,3889
$GC,1794,-0.66,-97.8,66.3,-3.1,169,1798,0.00,2.55,0.00,0.000,4,0.000,0.048,2462,3306,3889
$GC,1852,-0.66,-97.8,68.7,-3.9,173,1857,0.00,2.53,0.00,0.000,6,0.000,0.038,2462,1892,3889
$GC,2048,-0.66,-97.8,75.3,-3.3,188,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1893,3889
$GC,2238,-0.66,-97.8,81.4,-3.1,203,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1892,3889
$GC,2426,-0.66,-97.8,87.5,-3.3,218,2431,0.00,2.83,0.00,0.000,4,0.000,0.057,2462,486,3889
$GC,2472,-0.66,-97.8,89.2,-3.9,221,2477,0.00,2.70,0.00,0.000,6,0.000,0.029,2462,1902,3889
$GC,2667,-0.66,-97.8,95.4,-3.1,236,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1903,3889
$STATE,2816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2823,-0.31,0.0,100.4,3.5,248,2904,0.40,0.00,75.85,0.759,6,0.088,0.000,2542,1510,3484
$STATE,2905,end apogee,CONTROL_FINISHED_OK
$STATE,2905,begin climb
$GC,2907,0.66,97.8,101.2,0.0,255,2992,0.98,2.80,74.15,0.733,4,0.071,0.041,2749,2904,3084
$GC,3031,0.78,211.9,95.5,5.2,265,3124,0.15,2.78,85.90,0.721,6,0.052,0.044,2787,1501,2620
$GC,3313,0.78,211.9,75.0,8.0,287,3317,0.00,2.72,0.00,0.000,4,0.000,0.038,2787,2909,2619
$GC,3363,0.78,211.9,70.7,8.0,290,3371,0.00,2.80,0.00,0.000,6,0.000,0.045,2787,1503,2618
$GC,3560,0.79,215.9,56.0,7.3,306,3572,0.00,2.78,2.60,0.795,4,0.000,0.037,2786,2911,2603
$GC,3598,0.80,224.0,53.3,7.3,309,3611,0.00,2.78,5.78,0.750,6,0.000,0.046,2787,1500,2570
$GC,3799,0.81,235.5,38.5,7.2,325,3813,0.00,2.80,8.12,0.738,4,0.000,0.038,2787,2912,2524
$GC,3844,0.82,244.0,35.2,7.2,328,3856,0.00,2.83,6.32,0.738,6,0.000,0.046,2787,1500,2488
$GC,4053,0.83,256.6,20.9,7.2,345,4070,0.00,2.80,9.32,0.723,4,0.000,0.038,2786,2907,2437
$GC,4098,0.85,270.1,17.8,7.1,350,4117,0.00,2.78,10.02,0.713,6,0.000,0.046,2786,1502,2382
$GC,4183,0.88,302.9,11.8,6.8,363,4213,0.00,0.00,24.10,0.686,6,0.000,0.000,2787,1502,2248
$GC,4278,0.97,380.7,6.1,5.9,378,4304,0.15,0.00,23.27,0.681,2,0.060,0.000,2822,1502,2120
$STATE,4305,end climb,SURFACE_DEPTH_REACHED
$STATE,4305,begin surface coast
$FINISH,0.2,1.009767
$STATE,4403,end surface coast,CONTROL_FINISHED_OK
$STATE,4403,begin surface
$SM_CCo,4424,10.12,0.732,1,0,2056,350.29
$SM_GC,0.70,0.00,0.00,10.12,0.000,0.000,0.732,369,1919,2056,-10.31,0.54,350.29
$IRIDIUM_FIX,4722.92,-12258.89,270907,212147
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,31.6
$24V_AH,24.0,16.337
$10V_AH,10.2,6.473
$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,24.575,66.925,325.450,10.125,0.000,37.678,37.730,122.015,1.750,0.000,0.000,13.742,740.224,2559.699,439.998,692.812,332.950,33.335,863.649,0.000,678.892,0.000,10.065
$DEVICE_MAMPS,151.099,65.195,794.612,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,267.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12741,397
$CFSIZE,260034560,252579840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,200837,4739.292,-12253.587,35,1.4,42,18.3