version: 66.02
glider: 23
mission: 2
dive: 115
start: 9 24 107 10 21 44
data:
$ID,23
$MISSION,2
$DIVE,115
$D_SURF,2
$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,40
$T_MISSION,80
$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,30
$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,-29001.039
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,42
$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,10
$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
$GPS1,101631,4741.036,-12251.730,36,1.1,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.6
$GPS2,102039,4741.061,-12251.710,14,1.4,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,-0.174
$KALMAN_X,6219.9,-78.4,-81.8,-4519.1,-19.3
$KALMAN_Y,6449.3,-34.7,148.3,-4193.1,124.3
$MHEAD_RNG_PITCHd_Wd,183.2,3490,-19.8,-8.333
$D_GRID,101
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,83,0.00,0.00,-61.78,0.000,2,0.000,0.000,365,2176,3342
$GC,86,-1.34,-97.8,2.1,-3.8,10,123,10.85,0.00,-22.08,0.000,6,0.146,0.000,2312,2178,3883
$GC,187,-1.34,-97.8,9.0,-9.8,26,194,0.00,2.95,0.00,0.000,4,0.000,0.051,2312,736,3884
$GC,227,-1.34,-97.8,12.2,-8.0,32,233,0.00,2.75,0.00,0.000,6,0.000,0.030,2312,2137,3885
$GC,299,-1.34,-97.8,16.4,-5.7,43,305,0.00,2.47,0.00,0.000,4,0.000,0.049,2312,3566,3886
$GC,422,-1.34,-97.8,24.4,-7.1,57,430,0.00,2.42,0.00,0.000,6,0.000,0.034,2312,2147,3887
$GC,619,-1.34,-97.8,37.7,-7.1,73,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2147,3887
$GC,811,-1.34,-97.8,50.4,-6.8,88,815,0.00,2.47,0.00,0.000,4,0.000,0.050,2312,3575,3887
$GC,901,-1.34,-97.8,57.2,-7.4,94,909,0.00,2.42,0.00,0.000,6,0.000,0.035,2312,2152,3888
$GC,1100,-1.34,-97.8,70.8,-7.0,110,1105,0.00,2.45,0.00,0.000,4,0.000,0.051,2312,3566,3888
$GC,1174,-1.34,-97.8,76.6,-7.8,115,1178,0.00,2.40,0.00,0.000,6,0.000,0.035,2313,2143,3888
$GC,1368,-1.34,-97.8,91.0,-7.5,130,1372,0.00,2.47,0.00,0.000,4,0.000,0.051,2312,3569,3888
$STATE,1557,end dive,NO_VERTICAL_VELOCITY
$STATE,1557,begin apogee
$GC,1564,-0.31,0.0,94.6,0.0,144,1643,1.08,0.00,75.97,0.736,6,0.085,0.000,2534,2044,3484
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1646,1.34,97.8,94.4,0.0,151,1732,1.77,2.97,73.70,0.725,4,0.084,0.057,2897,649,3084
$GC,1776,1.34,97.8,85.7,11.0,161,1784,0.00,2.80,0.00,0.000,6,0.000,0.029,2897,2051,3084
$GC,1972,1.34,97.8,62.6,12.1,177,1977,0.00,2.92,0.00,0.000,4,0.000,0.058,2897,648,3083
$GC,1998,1.34,97.8,59.3,12.6,179,2002,0.00,2.78,0.00,0.000,6,0.000,0.030,2897,2060,3083
$GC,2200,1.34,97.8,35.3,10.0,195,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2060,3083
$GC,2392,1.34,97.8,12.1,11.9,214,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2060,3083
$GC,2463,1.34,97.8,5.9,9.0,225,2470,0.00,2.95,0.00,0.000,4,0.000,0.056,2897,636,3083
$GC,2489,1.35,102.3,3.8,8.1,229,2501,0.00,2.78,3.20,0.755,6,0.000,0.031,2897,2052,3066
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,0.4,1.001145
$STATE,2555,end surface coast,CONTROL_FINISHED_OK
$STATE,2556,begin surface
$SM_CCo,2575,117.57,0.645,0,0,2056,350.04
$SM_GC,1.00,0.00,0.00,117.57,0.000,0.000,0.645,363,2172,2056,-10.34,0.62,350.04
$IRIDIUM_FIX,4722.92,-12253.53,240907,131300
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,8.4
$ALTIM_BOTTOM_PING,70.8,29.1
$24V_AH,24.0,10.985
$10V_AH,10.2,4.633
$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,25.175,42.825,152.875,117.575,0.000,32.800,60.069,82.244,1.250,0.000,0.000,16.177,461.521,1421.715,388.938,445.649,253.657,33.356,661.292,0.000,433.408,0.000,9.308
$DEVICE_MAMPS,145.730,58.292,755.495,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,239
$CFSIZE,260034560,254828544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,110727,4740.847,-12251.785,9,1.4,9,18.3