version: 66.02
glider: 23
mission: 2
dive: 120
start: 9 24 107 14 29 42
data:
$ID,23
$MISSION,2
$DIVE,120
$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,-28989.807
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,142429,4740.343,-12252.373,8,3.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.2
$GPS2,142837,4740.352,-12252.356,12,1.6,28,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,-0.144
$KALMAN_X,6513.8,-34.3,102.8,-5844.5,68.5
$KALMAN_Y,6864.1,67.7,7.7,-5884.4,46.8
$MHEAD_RNG_PITCHd_Wd,198.7,1949,-17.8,-7.500
$D_GRID,119
$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,-1.22,-97.8,0.0,0.0,0,76,0.00,0.00,-55.47,0.000,2,0.000,0.000,365,2162,3198
$GC,79,-1.22,-97.8,2.0,-2.9,9,128,11.00,2.47,-29.83,0.000,4,0.146,0.063,2341,3556,3883
$GC,141,-1.22,-97.8,3.5,-5.1,19,147,0.00,2.33,0.00,0.000,6,0.000,0.032,2341,2169,3884
$GC,212,-1.22,-97.8,9.9,-10.0,30,219,0.00,2.95,0.00,0.000,4,0.000,0.052,2341,728,3884
$GC,251,-1.22,-97.8,13.4,-9.2,36,258,0.00,2.78,0.00,0.000,6,0.000,0.031,2341,2139,3884
$GC,324,-1.22,-97.8,19.0,-6.7,47,330,0.00,2.47,0.00,0.000,4,0.000,0.050,2341,3564,3885
$GC,428,-1.22,-97.8,25.8,-6.2,57,432,0.00,2.38,0.00,0.000,6,0.000,0.034,2340,2151,3885
$GC,630,-1.22,-97.8,37.2,-5.6,73,634,0.00,2.47,0.00,0.000,4,0.000,0.050,2341,3570,3885
$GC,709,-1.22,-97.8,42.3,-6.3,79,713,0.00,2.40,0.00,0.000,6,0.000,0.035,2341,2150,3885
$GC,911,-1.22,-97.8,54.8,-6.1,95,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2149,3886
$GC,1103,-1.22,-97.8,66.4,-6.0,110,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2150,3886
$GC,1290,-1.22,-97.8,78.2,-6.0,125,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2150,3886
$GC,1480,-1.22,-97.8,89.3,-5.9,140,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2150,3886
$STATE,1494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1494,begin apogee
$GC,1498,-0.31,0.0,90.0,6.0,141,1577,0.95,0.00,75.68,0.739,6,0.091,0.000,2535,2027,3483
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,1.22,97.8,91.2,0.0,148,1666,1.58,2.95,73.38,0.724,4,0.067,0.058,2869,660,3084
$GC,1683,1.22,97.8,83.0,11.0,156,1691,0.00,2.78,0.00,0.000,6,0.000,0.028,2869,2051,3084
$GC,1880,1.22,97.8,61.3,11.4,172,1884,0.00,2.90,0.00,0.000,4,0.000,0.058,2869,650,3084
$GC,1932,1.22,97.8,55.0,12.5,176,1937,0.00,2.78,0.00,0.000,6,0.000,0.031,2869,2062,3084
$GC,2134,1.22,97.8,33.1,10.9,192,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2062,3084
$GC,2327,1.22,97.8,13.6,9.2,212,2333,0.00,2.90,0.00,0.000,4,0.000,0.057,2869,658,3083
$GC,2359,1.22,97.8,10.5,9.7,217,2367,0.00,2.72,0.00,0.000,6,0.000,0.030,2869,2048,3083
$GC,2433,1.22,97.8,4.6,7.8,228,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2049,3083
$STATE,2469,end climb,SURFACE_DEPTH_REACHED
$STATE,2469,begin surface coast
$FINISH,0.4,1.002101
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2524,119.82,0.650,0,0,2057,350.04
$SM_GC,1.03,0.00,0.00,119.82,0.000,0.000,0.650,365,2170,2057,-10.33,0.57,350.04
$IRIDIUM_FIX,4722.92,-12249.11,240907,171702
$TT8_MAMPS,0.026845
$HUMID,2137
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,10.0,8.4
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,24.0,11.290
$10V_AH,10.2,4.732
$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,24.800,37.625,149.050,119.825,0.000,37.628,46.397,77.397,2.000,0.000,0.000,30.009,457.915,1411.709,383.215,428.994,240.596,33.354,642.159,0.000,403.067,0.000,11.543
$DEVICE_MAMPS,145.730,62.894,738.621,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6432,239
$CFSIZE,260034560,254705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,151459,4740.178,-12252.545,11,3.3,30,18.3