version: 66.02
glider: 23
mission: 2
dive: 161
start: 9 26 107 6 45 29
data:
$ID,23
$MISSION,2
$DIVE,161
$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,-28774.59
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,063933,4739.512,-12252.835,10,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.8
$GPS2,064407,4739.510,-12252.837,11,1.0,28,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.263,-0.084
$KALMAN_X,10702.6,139.1,86.6,-10795.6,-47.5
$KALMAN_Y,8678.5,39.2,75.8,-9298.8,50.7
$MHEAD_RNG_PITCHd_Wd,233.9,463,-8.8,-7.407
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.66,-97.8,0.0,0.0,0,89,0.00,0.00,-67.30,0.000,2,0.000,0.000,367,2099,3360
$GC,92,-0.66,-97.8,2.0,-3.2,11,130,11.73,2.53,-20.55,0.000,4,0.148,0.063,2464,3502,3883
$GC,170,-0.66,-97.8,4.9,-5.6,23,176,0.00,2.38,0.00,0.000,6,0.000,0.034,2464,2102,3885
$GC,242,-0.66,-97.8,8.3,-4.6,34,248,0.00,2.90,0.00,0.000,4,0.000,0.052,2464,690,3885
$GC,281,-0.66,-97.8,9.9,-4.4,40,287,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,2108,3885
$GC,353,-0.66,-97.8,12.6,-3.5,51,359,0.00,2.45,0.00,0.000,4,0.000,0.050,2464,3511,3886
$GC,557,-0.66,-97.8,19.9,-3.6,82,563,0.00,2.40,0.00,0.000,6,0.000,0.033,2464,2089,3886
$GC,626,-0.66,-97.8,22.0,-2.9,88,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2089,3886
$GC,816,-0.66,-97.8,27.7,-3.1,103,821,0.00,2.88,0.00,0.000,4,0.000,0.053,2464,684,3887
$GC,880,-0.66,-97.8,30.2,-4.3,107,888,0.00,2.83,0.00,0.000,6,0.000,0.030,2465,2104,3887
$GC,1077,-0.66,-97.8,37.3,-3.7,123,1081,0.00,2.90,0.00,0.000,4,0.000,0.051,2464,693,3886
$GC,1128,-0.66,-97.8,39.4,-4.1,126,1135,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2108,3887
$GC,1325,-0.66,-97.8,45.4,-3.1,142,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2107,3887
$GC,1515,-0.66,-97.8,51.1,-3.3,157,1520,0.00,2.90,0.00,0.000,4,0.000,0.051,2464,696,3888
$GC,1552,-0.66,-97.8,52.4,-3.4,159,1560,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,2101,3887
$GC,1749,-0.66,-97.8,57.6,-2.6,175,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2101,3887
$GC,1939,-0.66,-97.8,63.0,-3.0,190,1944,0.00,2.90,0.00,0.000,4,0.000,0.051,2464,691,3887
$GC,2003,-0.66,-97.8,65.0,-3.3,194,2011,0.00,2.83,0.00,0.000,6,0.000,0.030,2464,2108,3887
$GC,2200,-0.66,-97.8,70.5,-2.9,210,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2107,3887
$GC,2390,-0.66,-97.8,76.0,-3.0,225,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2107,3887
$GC,2579,-0.66,-97.8,81.4,-3.0,240,2584,0.00,2.92,0.00,0.000,4,0.000,0.051,2464,683,3887
$GC,2625,-0.66,-97.8,83.0,-3.7,243,2630,0.00,2.80,0.00,0.000,6,0.000,0.031,2464,2104,3887
$STATE,2704,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2704,begin apogee
$GC,2709,-0.31,0.0,85.8,3.3,249,2791,0.38,0.00,75.53,0.749,6,0.083,0.000,2539,1888,3483
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,0.66,97.8,86.7,0.0,256,2877,1.02,2.85,73.72,0.722,4,0.069,0.054,2754,499,3085
$GC,2908,0.77,204.1,81.9,5.4,265,2994,0.08,2.72,79.82,0.706,6,0.048,0.029,2780,1898,2651
$GC,3183,0.81,235.8,63.3,6.8,287,3212,0.00,2.92,23.40,0.706,4,0.000,0.061,2780,497,2522
$GC,3287,0.83,255.0,55.7,7.0,295,3311,0.00,2.70,14.12,0.709,6,0.000,0.029,2780,1903,2443
$GC,3499,0.84,269.3,40.6,7.1,312,3516,0.00,2.95,10.50,0.713,4,0.000,0.061,2780,500,2386
$GC,3596,0.85,269.8,33.3,7.4,319,3603,0.00,2.72,0.00,0.000,6,0.000,0.028,2780,1903,2385
$GC,3792,0.87,290.2,19.8,7.0,335,3817,0.00,2.97,15.27,0.696,4,0.000,0.061,2780,499,2299
$GC,3876,0.89,314.1,14.0,6.9,348,3902,0.12,2.70,17.55,0.690,6,0.072,0.030,2806,1906,2203
$GC,3967,0.92,342.6,7.7,6.9,362,3998,0.00,2.97,20.92,0.678,4,0.000,0.060,2807,500,2087
$STATE,4009,end climb,SURFACE_DEPTH_REACHED
$STATE,4009,begin surface coast
$FINISH,3.9,1.021513
$STATE,4024,end surface coast,CONTROL_FINISHED_OK
$STATE,4024,begin surface
$SM_CCo,4047,4.80,0.739,0,0,2057,350.04
$SM_GC,2.72,0.00,0.00,4.80,0.000,0.000,0.739,369,2098,2057,-10.31,-0.08,350.04
$IRIDIUM_FIX,4722.92,-12256.21,260907,090935
$TT8_MAMPS,0.026845
$HUMID,2178
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.3,35.5
$24V_AH,24.0,14.117
$10V_AH,10.2,5.686
$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,24.525,73.150,330.850,4.800,0.000,39.002,32.811,104.362,2.000,0.000,0.000,30.880,684.272,2278.466,453.361,662.052,291.372,33.339,858.134,0.000,635.255,0.000,5.546
$DEVICE_MAMPS,148.031,62.894,748.592,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,248.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9613,371
$CFSIZE,260034560,253542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,075351,4739.344,-12253.352,7,2.0,8,18.3