version: 66.02
glider: 23
mission: 2
dive: 123
start: 9 24 107 17 2 37
data:
$ID,23
$MISSION,2
$DIVE,123
$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,-28974.311
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,165756,4739.788,-12252.934,10,1.5,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.8
$GPS2,170133,4739.799,-12252.920,14,1.5,14,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,-0.165
$KALMAN_X,6451.0,29.2,114.6,-6558.8,-42.0
$KALMAN_Y,6952.5,126.9,-67.1,-6979.3,18.1
$MHEAD_RNG_PITCHd_Wd,185.5,709,-17.8,-7.500
$D_GRID,120
$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,-61.22,0.000,2,0.000,0.000,367,2145,3308
$GC,86,-1.22,-97.8,2.1,-2.8,10,129,10.93,2.55,-26.60,0.000,4,0.143,0.061,2338,3580,3883
$GC,149,-1.22,-97.8,2.9,-4.2,20,156,0.00,2.38,0.00,0.000,6,0.000,0.032,2339,2163,3885
$GC,221,-1.22,-97.8,8.4,-8.1,31,227,0.00,2.90,0.00,0.000,4,0.000,0.051,2338,738,3885
$GC,279,-1.22,-97.8,14.1,-9.5,40,286,0.00,2.78,0.00,0.000,6,0.000,0.030,2338,2154,3885
$GC,352,-1.22,-97.8,19.2,-6.6,51,358,0.00,2.88,0.00,0.000,4,0.000,0.048,2339,738,3887
$GC,390,-1.22,-97.8,21.5,-6.2,56,395,0.00,2.78,0.00,0.000,6,0.000,0.030,2339,2154,3886
$GC,592,-1.22,-97.8,33.7,-6.1,72,596,0.00,2.45,0.00,0.000,4,0.000,0.051,2338,3556,3887
$GC,663,-1.22,-97.8,38.4,-6.9,77,671,0.00,2.40,0.00,0.000,6,0.000,0.035,2339,2155,3887
$GC,861,-1.22,-97.8,50.6,-6.2,93,865,0.00,2.90,0.00,0.000,4,0.000,0.053,2339,723,3887
$GC,898,-1.22,-97.8,53.2,-7.1,95,906,0.00,2.83,0.00,0.000,6,0.000,0.031,2339,2155,3888
$GC,1094,-1.22,-97.8,65.5,-6.4,111,1099,0.00,2.45,0.00,0.000,4,0.000,0.051,2338,3567,3887
$GC,1279,-1.22,-97.8,78.5,-7.4,125,1283,0.00,2.40,0.00,0.000,6,0.000,0.036,2339,2144,3887
$STATE,1471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1471,begin apogee
$GC,1475,-0.31,0.0,90.6,6.7,140,1555,0.98,0.00,76.10,0.736,6,0.094,0.000,2536,2023,3483
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1558,1.22,97.8,92.3,0.0,147,1636,1.58,0.00,73.72,0.719,6,0.068,0.000,2869,2023,3084
$GC,1818,1.22,97.8,67.8,10.6,168,1823,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3458,3084
$GC,1837,1.22,97.8,65.6,10.7,169,1842,0.00,2.45,0.00,0.000,6,0.000,0.041,2868,2068,3083
$GC,2039,1.22,97.8,44.8,10.3,185,2044,0.00,2.95,0.00,0.000,4,0.000,0.061,2868,641,3083
$GC,2077,1.22,97.8,40.5,11.2,187,2085,0.00,2.78,0.00,0.000,6,0.000,0.029,2868,2045,3084
$GC,2274,1.22,97.8,19.6,10.5,203,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2048,3083
$GC,2345,1.22,97.8,12.7,9.9,214,2352,0.00,2.92,0.00,0.000,4,0.000,0.057,2868,633,3083
$GC,2378,1.22,97.8,9.6,9.8,219,2384,0.00,2.80,0.00,0.000,6,0.000,0.031,2868,2060,3084
$GC,2449,1.22,97.8,3.8,7.8,230,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2061,3083
$STATE,2473,end climb,SURFACE_DEPTH_REACHED
$STATE,2473,begin surface coast
$FINISH,0.4,1.021483
$STATE,2501,end surface coast,CONTROL_FINISHED_OK
$STATE,2501,begin surface
$SM_CCo,2520,118.80,0.647,0,0,2057,350.04
$SM_GC,0.96,0.00,0.00,118.80,0.000,0.000,0.647,367,2173,2057,-10.32,0.65,350.04
$IRIDIUM_FIX,4722.92,-12250.84,240907,202054
$TT8_MAMPS,0.026845
$HUMID,2124
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,7.8
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,24.0,11.478
$10V_AH,10.2,4.794
$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,24.800,48.400,149.825,118.800,0.000,37.673,31.550,75.702,1.500,0.000,0.000,15.753,458.405,1379.574,394.516,429.820,223.573,33.349,664.926,0.000,418.441,0.000,11.496
$DEVICE_MAMPS,143.429,61.360,735.553,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6467,238
$CFSIZE,260034560,254627840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,174756,4739.488,-12253.089,38,1.2,38,18.3