version: 66.02
glider: 23
mission: 2
dive: 160
start: 9 26 107 5 29 33
data:
$ID,23
$MISSION,2
$DIVE,160
$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,100
$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,-28773.441
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$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
$GPS1,052407,4739.410,-12252.429,28,1.0,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.4
$GPS2,052809,4739.416,-12252.418,11,1.1,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.286,-0.002
$KALMAN_X,10421.7,161.8,141.9,-10062.1,-81.5
$KALMAN_Y,8567.3,43.0,18.7,-9305.4,85.7
$MHEAD_RNG_PITCHd_Wd,251.4,983,-8.2,-7.407
$D_GRID,124
$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,-0.62,-97.8,0.0,0.0,0,71,0.00,0.00,-49.70,0.000,2,0.000,0.000,369,2099,3105
$GC,74,-0.62,-97.8,2.1,-3.6,8,123,11.70,2.92,-29.85,0.000,4,0.146,0.059,2469,686,3884
$GC,169,-0.62,-97.8,5.7,-5.4,23,176,0.00,2.80,0.00,0.000,6,0.000,0.029,2469,2103,3886
$GC,241,-0.62,-97.8,8.3,-3.0,34,248,0.00,2.45,0.00,0.000,4,0.000,0.051,2469,3501,3885
$GC,425,-0.62,-97.8,14.6,-3.5,62,432,0.00,2.38,0.00,0.000,6,0.000,0.035,2469,2103,3886
$GC,498,-0.62,-97.8,16.8,-3.0,73,504,0.00,2.88,0.00,0.000,4,0.000,0.052,2469,696,3886
$GC,576,-0.62,-97.8,19.3,-3.4,85,583,0.00,2.78,0.00,0.000,6,0.000,0.029,2469,2106,3886
$GC,646,-0.62,-97.8,21.6,-3.0,92,650,0.00,2.45,0.00,0.000,4,0.000,0.051,2469,3510,3887
$GC,710,-0.62,-97.8,24.0,-3.2,96,718,0.00,2.42,0.00,0.000,6,0.000,0.033,2469,2099,3887
$GC,907,-0.62,-97.8,29.9,-2.9,112,911,0.00,2.88,0.00,0.000,4,0.000,0.054,2469,691,3887
$GC,932,-0.62,-97.8,30.7,-2.8,113,939,0.00,2.80,0.00,0.000,6,0.000,0.030,2469,2100,3887
$GC,1128,-0.62,-97.8,36.8,-3.3,129,1132,0.00,2.90,0.00,0.000,4,0.000,0.052,2469,689,3887
$GC,1192,-0.62,-97.8,39.2,-4.0,133,1200,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2096,3888
$GC,1389,-0.62,-97.8,45.4,-3.2,149,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2095,3888
$GC,1579,-0.62,-97.8,51.5,-3.4,164,1584,0.00,2.88,0.00,0.000,4,0.000,0.051,2469,697,3888
$GC,1630,-0.62,-97.8,53.5,-3.5,167,1637,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2099,3888
$GC,1827,-0.62,-97.8,59.5,-3.1,183,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2099,3888
$GC,2017,-0.62,-97.8,65.4,-3.4,198,2022,0.00,2.88,0.00,0.000,4,0.000,0.051,2469,697,3888
$GC,2062,-0.62,-97.8,67.2,-4.3,201,2067,0.00,2.78,0.00,0.000,6,0.000,0.031,2469,2107,3888
$GC,2258,-0.62,-97.8,74.0,-3.4,216,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2104,3888
$GC,2449,-0.62,-97.8,80.7,-3.4,231,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2105,3887
$GC,2636,-0.62,-97.8,87.0,-3.3,246,2641,0.00,2.90,0.00,0.000,4,0.000,0.051,2469,686,3887
$GC,2687,-0.62,-97.8,88.8,-3.3,249,2695,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2096,3888
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2712,-0.31,0.0,89.5,3.5,251,2792,0.35,0.00,75.75,0.743,6,0.084,0.000,2539,1897,3484
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,0.62,97.8,90.4,0.0,258,2878,0.98,2.88,73.97,0.723,4,0.070,0.054,2743,493,3085
$GC,2897,0.78,241.9,86.6,4.9,266,3015,0.17,2.72,108.50,0.703,6,0.051,0.030,2786,1903,2496
$GC,3203,0.79,258.5,64.7,7.1,291,3221,0.00,2.92,12.18,0.719,4,0.000,0.061,2786,493,2429
$GC,3306,0.79,258.5,56.4,8.1,298,3313,0.00,2.70,0.00,0.000,6,0.000,0.028,2786,1903,2429
$GC,3502,0.82,279.9,41.8,7.0,314,3527,0.00,2.95,16.12,0.706,4,0.000,0.061,2786,502,2341
$GC,3612,0.82,279.9,33.7,7.9,322,3619,0.00,2.70,0.00,0.000,6,0.000,0.028,2786,1911,2341
$GC,3808,0.83,290.6,20.0,7.2,338,3821,0.00,2.92,7.65,0.723,4,0.000,0.061,2786,494,2298
$GC,3888,0.83,290.6,14.1,7.5,350,3894,0.00,2.70,0.00,0.000,6,0.000,0.030,2786,1904,2298
$GC,3960,0.92,375.7,9.6,5.9,361,4033,0.12,2.97,63.35,0.668,4,0.070,0.061,2814,502,1951
$STATE,4038,end climb,SURFACE_DEPTH_REACHED
$STATE,4039,begin surface coast
$FINISH,2.7,1.021228
$STATE,4066,end surface coast,CONTROL_FINISHED_OK
$STATE,4066,begin surface
$SM_CCo,4149,0.00,0.000,0,0,1948,376.78
$SM_GC,1.07,11.25,0.00,0.00,0.044,0.000,0.000,367,2099,1948,-10.27,-0.03,376.78
$IRIDIUM_FIX,4719.74,-12224.35,260907,080857
$TT8_MAMPS,0.026845
$HUMID,2158
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.3,32.0
$24V_AH,24.0,14.039
$10V_AH,10.2,5.659
$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,24.575,78.525,357.525,0.000,0.000,37.516,32.809,96.942,1.250,0.000,0.000,12.714,692.194,2329.285,468.476,664.042,280.921,33.338,883.660,0.000,651.119,0.000,5.539
$DEVICE_MAMPS,146.497,61.360,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,252.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,378
$CFSIZE,260034560,253579264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,063933,4739.512,-12252.835,10,1.3,11,18.3