version: 66.02
glider: 23
mission: 2
dive: 132
start: 9 25 107 2 2 36
data:
$ID,23
$MISSION,2
$DIVE,132
$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,45
$T_MISSION,90
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$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,-28924.27
$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,28
$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
$GPS1,015531,4740.171,-12250.019,36,1.0,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.8
$GPS2,020114,4740.193,-12249.956,9,1.0,15,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.228,-0.067
$KALMAN_X,6716.7,-2.9,-31.2,-2956.4,141.4
$KALMAN_Y,6512.4,-77.4,72.9,-5746.6,26.1
$MHEAD_RNG_PITCHd_Wd,235.3,4267,-11.6,-7.407
$D_GRID,89
$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,-0.82,-88.0,0.0,0.0,0,66,0.00,0.00,-43.97,0.000,2,0.000,0.000,368,2151,2994
$GC,69,-0.82,-88.0,2.1,-3.2,7,124,11.48,2.90,-34.50,0.000,4,0.146,0.058,2427,758,3843
$GC,329,-0.82,-88.0,10.6,-2.9,47,335,0.00,2.75,0.00,0.000,6,0.000,0.030,2427,2156,3846
$GC,400,-0.82,-88.0,12.1,-1.9,58,407,0.00,2.45,0.00,0.000,4,0.000,0.050,2428,3566,3846
$GC,446,-0.82,-88.0,13.3,-2.5,65,452,0.00,2.35,0.00,0.000,6,0.000,0.033,2428,2165,3847
$GC,518,-0.82,-88.0,14.8,-1.8,76,524,0.00,2.90,0.00,0.000,4,0.000,0.050,2428,734,3847
$GC,604,-0.82,-88.0,17.2,-3.3,89,610,0.00,2.80,0.00,0.000,6,0.000,0.031,2427,2161,3848
$GC,676,-0.82,-88.0,19.4,-3.0,100,682,0.00,2.42,0.00,0.000,4,0.000,0.051,2428,3557,3848
$GC,747,-0.82,-88.0,22.0,-3.9,107,754,0.00,2.40,0.00,0.000,6,0.000,0.033,2427,2153,3848
$GC,943,-0.82,-88.0,29.0,-3.6,123,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2154,3848
$GC,1134,-0.82,-88.0,36.7,-4.2,138,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2154,3849
$GC,1323,-0.82,-88.0,43.7,-3.5,153,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2154,3849
$GC,1513,-0.82,-88.0,50.3,-3.8,168,1517,0.00,2.45,0.00,0.000,4,0.000,0.051,2428,3565,3848
$GC,1591,-0.82,-88.0,53.3,-3.8,174,1595,0.00,2.40,0.00,0.000,6,0.000,0.036,2428,2145,3849
$GC,1793,-0.82,-88.0,59.6,-2.2,190,1797,0.00,2.88,0.00,0.000,4,0.000,0.054,2428,728,3848
$GC,1824,-0.82,-88.0,60.4,-2.9,192,1832,0.00,2.83,0.00,0.000,6,0.000,0.031,2427,2153,3848
$GC,2021,-0.82,-88.0,65.8,-3.2,208,2025,0.00,2.45,0.00,0.000,4,0.000,0.052,2427,3565,3848
$GC,2073,-0.82,-88.0,67.6,-3.3,212,2077,0.00,2.40,0.00,0.000,6,0.000,0.036,2428,2142,3848
$GC,2275,-0.82,-88.0,74.0,-3.8,228,2279,0.00,2.47,0.00,0.000,4,0.000,0.051,2428,3563,3849
$GC,2306,-0.82,-88.0,75.6,-4.7,230,2314,0.00,2.42,0.00,0.000,6,0.000,0.035,2428,2147,3849
$GC,2503,-0.82,-88.0,83.4,-3.6,246,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2147,3848
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2670,-0.31,0.0,89.4,3.8,259,2742,0.55,0.00,68.43,0.740,6,0.084,0.000,2539,2027,3484
$STATE,2742,end apogee,CONTROL_FINISHED_OK
$STATE,2742,begin climb
$GC,2744,0.82,88.0,90.2,0.0,265,2819,1.17,2.62,66.40,0.720,4,0.067,0.048,2787,3464,3124
$GC,2845,0.86,123.2,84.7,6.4,273,2881,0.00,2.45,26.70,0.722,6,0.000,0.039,2787,2062,2981
$GC,3070,0.88,145.6,70.7,6.8,291,3095,0.00,3.05,16.25,0.725,4,0.000,0.061,2787,636,2890
$GC,3218,0.88,145.6,58.8,8.4,302,3226,0.00,2.83,0.00,0.000,6,0.000,0.030,2787,2057,2889
$GC,3415,0.91,165.3,44.3,6.9,318,3435,0.00,3.05,14.27,0.719,4,0.000,0.058,2787,632,2809
$GC,3479,0.91,165.3,39.2,7.4,322,3487,0.00,2.83,0.00,0.000,6,0.000,0.030,2787,2050,2809
$GC,3676,0.93,182.6,25.5,6.9,338,3695,0.12,2.97,12.90,0.725,4,0.057,0.058,2822,639,2738
$GC,3793,0.93,182.6,15.3,8.8,350,3800,0.00,2.78,0.00,0.000,6,0.000,0.030,2821,2051,2737
$GC,3865,0.93,182.6,9.7,7.7,361,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2054,2737
$GC,3936,0.97,225.7,5.0,6.2,372,3974,0.00,3.05,31.90,0.678,4,0.000,0.057,2822,635,2562
$STATE,4012,end climb,SURFACE_DEPTH_REACHED
$STATE,4012,begin surface coast
$FINISH,0.3,1.019589
$STATE,4072,end surface coast,CONTROL_FINISHED_OK
$STATE,4072,begin surface
$SM_CCo,4094,60.67,0.657,0,0,2056,350.04
$SM_GC,1.07,0.00,0.00,60.67,0.000,0.000,0.657,366,2148,2056,-10.33,-0.06,350.04
$IRIDIUM_FIX,4722.92,-12249.11,250907,040455
$TT8_MAMPS,0.026845
$HUMID,2174
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,31.7
$24V_AH,24.0,12.073
$10V_AH,10.2,5.008
$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,24.475,70.100,236.850,60.675,0.000,39.180,49.545,173.015,1.250,0.000,0.000,16.961,732.847,2331.057,423.483,684.073,370.951,33.350,828.803,0.000,667.380,0.000,6.965
$DEVICE_MAMPS,146.497,60.593,740.155,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,265.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12691,393
$CFSIZE,260034560,254341120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,031245,4740.208,-12250.059,11,1.3,12,18.3