version: 66.02
glider: 23
mission: 2
dive: 142
start: 9 25 107 14 30 0
data:
$ID,23
$MISSION,2
$DIVE,142
$D_SURF,5
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28790.609
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,141737,4740.968,-12251.740,13,1.6,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.9
$GPS2,142838,4740.958,-12251.700,10,1.2,10,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,-0.240
$KALMAN_X,8714.4,453.0,16.8,-7634.5,63.8
$KALMAN_Y,7312.9,159.9,-22.4,-5264.8,115.1
$MHEAD_RNG_PITCHd_Wd,194.8,3338,-8.2,-7.407
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-78.2,0.0,0.0,0,77,0.00,0.00,-54.20,0.000,2,0.000,0.000,365,2146,3188
$GC,80,-0.60,-78.2,2.0,-3.1,9,123,11.73,0.00,-28.27,0.000,6,0.144,0.000,2477,2146,3803
$GC,188,-0.60,-78.2,5.1,-4.7,26,195,0.00,2.90,0.00,0.000,4,0.000,0.050,2477,739,3804
$GC,274,-0.60,-78.2,8.1,-3.1,39,281,0.00,2.80,0.00,0.000,6,0.000,0.029,2477,2161,3805
$GC,346,-0.60,-78.2,9.7,-1.6,50,353,0.00,2.42,0.00,0.000,4,0.000,0.050,2477,3559,3805
$GC,411,-0.60,-78.2,11.2,-2.5,60,418,0.00,2.35,0.00,0.000,6,0.000,0.032,2477,2153,3805
$GC,484,-0.60,-78.2,13.0,-2.4,71,490,0.00,2.45,0.00,0.000,4,0.000,0.050,2477,3563,3806
$GC,516,-0.60,-78.2,13.7,-2.5,76,522,0.00,2.38,0.00,0.000,6,0.000,0.032,2477,2148,3806
$GC,588,-0.60,-78.2,14.9,-1.7,87,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2148,3806
$GC,660,-0.60,-78.2,16.3,-1.7,98,666,0.00,2.90,0.00,0.000,4,0.000,0.051,2477,722,3806
$GC,753,-0.60,-78.2,18.4,-2.7,112,759,0.00,2.83,0.00,0.000,6,0.000,0.031,2477,2156,3807
$GC,824,-0.60,-78.2,20.2,-2.3,123,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2155,3807
$GC,1015,-0.60,-78.2,24.2,-2.2,138,1019,0.00,2.42,0.00,0.000,4,0.000,0.051,2477,3561,3808
$GC,1092,-0.60,-78.2,26.4,-2.7,143,1099,0.00,2.40,0.00,0.000,6,0.000,0.033,2477,2146,3808
$GC,1288,-0.60,-78.2,31.3,-2.6,159,1293,0.00,2.88,0.00,0.000,4,0.000,0.052,2477,736,3808
$GC,1387,-0.60,-78.2,34.0,-2.8,166,1392,0.00,2.80,0.00,0.000,6,0.000,0.031,2477,2161,3808
$GC,1582,-0.60,-78.2,39.0,-2.8,181,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2161,3808
$GC,1773,-0.60,-78.2,44.3,-2.9,196,1777,0.00,2.92,0.00,0.000,4,0.000,0.050,2477,729,3808
$GC,1858,-0.60,-78.2,47.1,-3.2,202,1863,0.00,2.83,0.00,0.000,6,0.000,0.031,2477,2161,3808
$GC,2053,-0.60,-78.2,52.9,-2.8,217,2058,0.00,2.92,0.00,0.000,4,0.000,0.050,2477,727,3808
$GC,2085,-0.60,-78.2,53.8,-2.8,219,2090,0.00,2.83,0.00,0.000,6,0.000,0.031,2477,2160,3808
$GC,2281,-0.60,-78.2,58.7,-2.5,234,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2160,3808
$GC,2471,-0.60,-78.2,62.8,-2.1,249,2476,0.00,2.90,0.00,0.000,4,0.000,0.050,2477,731,3807
$GC,2569,-0.60,-78.2,65.3,-2.6,256,2574,0.00,2.80,0.00,0.000,6,0.000,0.031,2477,2155,3807
$STATE,2712,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2712,begin apogee
$GC,2718,-0.31,0.0,68.3,2.1,267,2781,0.30,0.00,60.72,0.725,6,0.084,0.000,2538,1795,3484
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin climb
$GC,2784,0.60,78.2,68.7,0.0,272,2852,0.93,2.70,59.12,0.705,4,0.070,0.045,2735,3217,3164
$GC,2869,0.76,229.9,65.4,4.7,279,2992,0.15,2.62,113.90,0.688,6,0.040,0.037,2778,1812,2546
$GC,3188,0.81,278.1,45.5,6.6,305,3229,0.00,2.90,35.85,0.684,4,0.000,0.064,2778,386,2349
$GC,3314,0.84,301.3,36.6,7.0,314,3338,0.00,2.67,17.23,0.696,6,0.000,0.029,2778,1807,2254
$GC,3535,0.90,352.1,22.2,6.5,332,3579,0.12,2.95,37.80,0.670,4,0.061,0.064,2809,387,2047
$GC,3658,0.90,352.1,12.0,8.6,348,3665,0.00,2.62,0.00,0.000,6,0.000,0.028,2809,1801,2048
$GC,3730,0.92,375.7,6.8,7.0,359,3755,0.00,2.88,17.50,0.675,4,0.000,0.064,2809,391,1951
$STATE,3759,end climb,SURFACE_DEPTH_REACHED
$STATE,3760,begin surface coast
$FINISH,3.7,1.021385
$STATE,3780,end surface coast,CONTROL_FINISHED_OK
$STATE,3782,begin surface
$SM_CCo,3864,0.00,0.000,0,0,1947,377.03
$SM_GC,1.20,11.23,0.00,0.00,0.045,0.000,0.000,367,2143,1947,-10.26,-0.20,377.03
$IRIDIUM_FIX,4726.11,-12253.53,250907,181837
$TT8_MAMPS,0.026845
$HUMID,2152
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,24.0,12.831
$10V_AH,10.2,5.286
$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,24.450,72.250,342.125,0.000,0.000,113.804,96.487,247.027,0.750,0.000,0.000,12.054,682.268,2222.910,439.528,653.133,569.433,33.342,848.720,0.000,643.267,0.000,2.450
$DEVICE_MAMPS,144.196,64.428,724.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,246.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9605,367
$CFSIZE,260034560,254029824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,153515,4740.793,-12251.812,11,1.7,12,18.3