version: 66.02
glider: 23
mission: 2
dive: 190
start: 9 27 107 21 38 37
data:
$ID,23
$MISSION,2
$DIVE,190
$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,-28461.244
$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,8
$R_STBD_OVSHOOT,32
$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
$GPS1,213233,4739.252,-12253.352,11,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.7
$GPS2,213715,4739.247,-12253.383,12,1.6,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.244
$KALMAN_X,11547.7,40.9,77.5,-12202.8,-92.6
$KALMAN_Y,6872.9,-15.3,47.3,-7887.3,-190.1
$MHEAD_RNG_PITCHd_Wd,9.6,466,-8.8,-7.407
$D_GRID,127
$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,-97.8,0.0,0.0,0,90,0.00,0.00,-67.78,0.000,2,0.000,0.000,365,1908,3455
$GC,93,-0.66,-97.8,2.1,-3.3,11,130,11.77,2.60,-15.00,0.000,4,0.150,0.058,2463,3306,3885
$GC,321,-0.66,-97.8,11.7,-3.4,46,328,0.00,2.55,0.00,0.000,6,0.000,0.035,2464,1878,3887
$GC,394,-0.66,-97.8,13.4,-2.5,57,400,0.00,2.78,0.00,0.000,4,0.000,0.054,2464,491,3887
$GC,439,-0.66,-97.8,14.7,-3.3,64,445,0.00,2.70,0.00,0.000,6,0.000,0.028,2463,1908,3887
$GC,511,-0.66,-97.8,16.8,-3.2,75,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1907,3888
$GC,583,-0.66,-97.8,19.2,-3.4,86,590,0.00,2.55,0.00,0.000,4,0.000,0.048,2464,3313,3888
$GC,681,-0.66,-97.8,22.7,-3.5,95,688,0.00,2.55,0.00,0.000,6,0.000,0.035,2464,1900,3889
$GC,877,-0.66,-97.8,29.1,-3.2,111,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1900,3889
$GC,1069,-0.66,-97.8,35.2,-3.5,126,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1900,3889
$GC,1257,-0.66,-97.8,41.5,-3.5,141,1261,0.00,2.55,0.00,0.000,4,0.000,0.047,2464,3300,3889
$GC,1302,-0.66,-97.8,43.3,-4.1,144,1307,0.00,2.50,0.00,0.000,6,0.000,0.037,2464,1899,3889
$GC,1498,-0.66,-97.8,50.1,-3.4,159,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1900,3889
$GC,1690,-0.66,-97.8,56.5,-3.3,174,1694,0.00,2.58,0.00,0.000,4,0.000,0.048,2464,3310,3889
$GC,1754,-0.66,-97.8,59.0,-3.8,178,1761,0.00,2.55,0.00,0.000,6,0.000,0.037,2464,1899,3889
$GC,1950,-0.66,-97.8,65.0,-3.0,194,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1900,3889
$GC,2141,-0.66,-97.8,71.2,-3.0,209,2145,0.00,2.58,0.00,0.000,4,0.000,0.048,2464,3313,3889
$GC,2272,-0.66,-97.8,76.2,-4.0,218,2279,0.00,2.53,0.00,0.000,6,0.000,0.038,2464,1898,3889
$GC,2468,-0.66,-97.8,83.1,-3.6,234,2472,0.00,2.85,0.00,0.000,4,0.000,0.058,2464,480,3889
$GC,2487,-0.66,-97.8,83.9,-3.7,235,2491,0.00,2.70,0.00,0.000,6,0.000,0.029,2464,1899,3888
$GC,2682,-0.66,-97.8,90.9,-3.5,250,2687,0.00,2.55,0.00,0.000,4,0.000,0.049,2464,3304,3889
$GC,2768,-0.66,-97.8,94.1,-3.5,256,2772,0.00,2.50,0.00,0.000,6,0.000,0.038,2463,1896,3889
$STATE,2955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2955,begin apogee
$GC,2961,-0.31,0.0,100.3,3.2,271,3042,0.38,0.00,75.85,0.756,6,0.091,0.000,2538,1512,3483
$STATE,3043,end apogee,CONTROL_FINISHED_OK
$STATE,3043,begin climb
$GC,3045,0.66,97.8,101.0,0.0,278,3130,1.00,2.83,73.70,0.735,4,0.072,0.041,2748,2901,3083
$GC,3196,0.79,223.4,94.0,5.0,290,3297,0.17,2.80,94.35,0.716,6,0.051,0.044,2790,1500,2572
$GC,3494,0.79,223.4,71.3,7.9,314,3498,0.00,2.75,0.00,0.000,4,0.000,0.038,2790,2908,2571
$GC,3558,0.79,223.4,66.1,8.3,318,3566,0.00,2.83,0.00,0.000,6,0.000,0.046,2790,1504,2571
$GC,3754,0.79,223.4,50.3,8.4,334,3759,0.00,2.70,0.00,0.000,4,0.000,0.038,2790,2902,2571
$GC,3794,0.79,223.4,46.9,8.5,337,3798,0.00,2.78,0.00,0.000,6,0.000,0.046,2790,1499,2571
$GC,3989,0.79,223.4,31.4,7.8,352,3993,0.00,2.72,0.00,0.000,4,0.000,0.038,2790,2901,2570
$GC,4027,0.79,223.4,28.3,8.0,354,4034,0.00,2.80,0.00,0.000,6,0.000,0.045,2790,1500,2571
$GC,4229,0.81,235.9,13.9,7.2,376,4247,0.00,2.80,8.98,0.716,4,0.000,0.038,2791,2900,2522
$GC,4293,0.84,264.1,9.2,6.9,386,4323,0.00,2.78,20.92,0.691,6,0.000,0.047,2790,1499,2406
$STATE,4360,end climb,SURFACE_DEPTH_REACHED
$STATE,4360,begin surface coast
$FINISH,0.4,1.020377
$STATE,4468,end surface coast,CONTROL_FINISHED_OK
$STATE,4468,begin surface
$SM_CCo,4490,44.47,0.676,0,0,2056,350.04
$SM_GC,0.73,0.00,0.00,44.47,0.000,0.000,0.676,367,1923,2056,-10.32,0.68,350.04
$IRIDIUM_FIX,4719.74,-12254.47,280907,000007
$TT8_MAMPS,0.026845
$HUMID,2150
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,24.0,16.492
$10V_AH,10.2,6.533
$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,24.275,71.075,273.800,44.475,0.000,40.287,38.726,117.257,1.750,0.000,0.000,14.870,767.530,2596.131,434.628,733.798,327.304,33.333,874.388,0.000,720.550,0.000,7.066
$DEVICE_MAMPS,150.332,57.525,756.262,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,278.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12698,413
$CFSIZE,260034560,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,225531,4739.358,-12253.269,36,1.9,37,18.3