version: 66.02
glider: 23
mission: 2
dive: 117
start: 9 24 107 12 1 13
data:
$ID,23
$MISSION,2
$DIVE,117
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,-28992.648
$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,22
$R_STBD_OVSHOOT,44
$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
$GPS1,115631,4740.717,-12251.924,36,1.5,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.4
$GPS2,120009,4740.741,-12251.922,11,1.7,11,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,-0.129
$KALMAN_X,6394.0,-91.0,-38.0,-4985.5,106.1
$KALMAN_Y,6542.2,11.6,143.5,-4922.0,18.6
$MHEAD_RNG_PITCHd_Wd,206.1,2850,-17.8,-7.500
$D_GRID,99
$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,-1.22,-97.8,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,2,0.000,0.000,364,2176,3335
$GC,86,-1.22,-97.8,2.2,-3.3,10,129,11.00,2.97,-22.80,0.000,4,0.146,0.058,2339,736,3884
$GC,214,-1.22,-97.8,9.5,-9.1,30,221,0.00,2.75,0.00,0.000,6,0.000,0.031,2339,2135,3886
$GC,286,-1.22,-97.8,15.8,-8.2,41,293,0.00,2.47,0.00,0.000,4,0.000,0.049,2339,3565,3886
$GC,409,-1.22,-97.8,24.4,-6.9,55,417,0.00,2.42,0.00,0.000,6,0.000,0.033,2339,2147,3885
$GC,606,-1.22,-97.8,36.5,-6.2,71,611,0.00,2.85,0.00,0.000,4,0.000,0.051,2339,737,3887
$GC,665,-1.22,-97.8,40.2,-6.7,75,670,0.00,2.78,0.00,0.000,6,0.000,0.031,2339,2159,3886
$GC,860,-1.22,-97.8,51.7,-5.7,90,864,0.00,2.42,0.00,0.000,4,0.000,0.050,2339,3564,3887
$GC,971,-1.22,-97.8,58.9,-6.3,98,979,0.00,2.40,0.00,0.000,6,0.000,0.035,2339,2155,3887
$GC,1168,-1.22,-97.8,71.5,-6.7,114,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2155,3887
$GC,1357,-1.22,-97.8,83.5,-5.9,129,1361,0.00,2.45,0.00,0.000,4,0.000,0.051,2339,3567,3887
$STATE,1460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1468,-0.31,0.0,90.1,6.8,137,1548,1.00,0.00,76.03,0.733,6,0.091,0.000,2539,2039,3483
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1550,1.22,97.8,91.4,0.0,144,1636,1.58,3.00,73.57,0.720,4,0.067,0.059,2872,644,3084
$GC,1674,1.22,97.8,81.0,11.5,154,1679,0.00,2.78,0.00,0.000,6,0.000,0.029,2872,2053,3084
$GC,1877,1.22,97.8,58.7,11.3,170,1881,0.00,2.92,0.00,0.000,4,0.000,0.058,2872,640,3083
$GC,1910,1.22,97.8,54.8,12.6,172,1915,0.00,2.78,0.00,0.000,6,0.000,0.030,2872,2054,3084
$GC,2105,1.22,97.8,32.4,11.2,187,2109,0.00,2.92,0.00,0.000,4,0.000,0.058,2872,647,3083
$GC,2149,1.22,97.8,27.0,11.8,190,2158,0.00,2.80,0.00,0.000,6,0.000,0.031,2872,2053,3083
$GC,2352,1.22,97.8,6.2,8.4,216,2359,0.00,2.45,0.00,0.000,4,0.000,0.048,2872,3462,3083
$GC,2385,1.22,97.8,3.6,8.1,221,2392,0.00,2.45,0.00,0.000,6,0.000,0.038,2872,2040,3083
$STATE,2409,end climb,SURFACE_DEPTH_REACHED
$STATE,2409,begin surface coast
$FINISH,0.6,1.021231
$STATE,2437,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2456,124.53,0.647,0,0,2057,350.04
$SM_GC,1.10,0.00,0.00,124.53,0.000,0.000,0.647,364,2166,2057,-10.33,0.45,350.04
$IRIDIUM_FIX,4722.92,-12251.79,240907,151552
$TT8_MAMPS,0.026845
$HUMID,2134
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.4
$ALTIM_BOTTOM_PING,75.7,24.0
$24V_AH,24.0,11.106
$10V_AH,10.2,4.672
$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,24.900,48.450,149.600,124.525,0.000,40.087,32.272,75.677,1.500,0.000,0.000,13.128,446.888,1340.154,392.563,425.825,223.447,33.353,657.424,0.000,416.917,0.000,9.993
$DEVICE_MAMPS,145.730,59.059,733.252,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,229
$CFSIZE,260034560,254779392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,124523,4740.599,-12252.095,7,3.5,26,18.3