version: 66.02
glider: 23
mission: 2
dive: 167
start: 9 26 107 14 42 23
data:
$ID,23
$MISSION,2
$DIVE,167
$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,-28731.16
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,39
$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
$GPS1,142515,4739.545,-12252.358,9,1.5,10,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.5
$GPS2,144101,4739.572,-12252.302,42,1.0,42,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,-0.258
$KALMAN_X,11183.1,57.7,-26.5,-10414.5,25.2
$KALMAN_Y,8272.5,-100.0,-256.8,-8312.9,183.4
$MHEAD_RNG_PITCHd_Wd,182.9,231,-8.8,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-97.8,0.0,0.0,0,79,0.00,0.00,-55.90,0.000,2,0.000,0.000,367,2125,3230
$GC,82,-0.66,-97.8,2.1,-3.4,9,125,11.70,2.40,-25.02,0.000,4,0.148,0.061,2463,3498,3883
$GC,376,-0.66,-97.8,12.7,-3.6,54,383,0.00,2.38,0.00,0.000,6,0.000,0.032,2463,2089,3886
$GC,449,-0.66,-97.8,14.9,-2.7,65,455,0.00,2.45,0.00,0.000,4,0.000,0.047,2463,3498,3886
$GC,600,-0.66,-97.8,19.8,-3.4,88,606,0.00,2.38,0.00,0.000,6,0.000,0.034,2463,2091,3887
$GC,669,-0.66,-97.8,22.2,-3.1,94,674,0.00,2.88,0.00,0.000,4,0.000,0.051,2463,685,3887
$GC,741,-0.66,-97.8,24.4,-3.3,99,746,0.00,2.78,0.00,0.000,6,0.000,0.030,2463,2096,3887
$GC,936,-0.66,-97.8,30.1,-2.9,114,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2095,3888
$GC,1127,-0.66,-97.8,35.9,-3.5,129,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2095,3888
$GC,1316,-0.66,-97.8,42.2,-3.3,144,1321,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,687,3888
$GC,1362,-0.66,-97.8,43.7,-3.6,147,1366,0.00,2.80,0.00,0.000,6,0.000,0.031,2463,2104,3888
$GC,1557,-0.66,-97.8,50.3,-3.5,162,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2103,3888
$GC,1749,-0.66,-97.8,56.8,-3.5,177,1753,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,697,3888
$GC,1794,-0.66,-97.8,58.7,-4.0,180,1799,0.00,2.80,0.00,0.000,6,0.000,0.032,2463,2109,3888
$GC,1989,-0.66,-97.8,65.6,-3.3,195,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2109,3888
$GC,2180,-0.66,-97.8,71.6,-3.1,210,2184,0.00,2.90,0.00,0.000,4,0.000,0.051,2463,698,3888
$GC,2225,-0.66,-97.8,73.2,-3.5,213,2230,0.00,2.80,0.00,0.000,6,0.000,0.032,2463,2114,3888
$GC,2421,-0.66,-97.8,79.2,-2.7,228,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2113,3888
$GC,2611,-0.66,-97.8,84.3,-2.8,243,2616,0.00,2.92,0.00,0.000,4,0.000,0.051,2463,689,3888
$GC,2670,-0.66,-97.8,86.1,-3.1,247,2674,0.00,2.80,0.00,0.000,6,0.000,0.031,2463,2110,3888
$STATE,2712,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2712,begin apogee
$GC,2717,-0.31,0.0,87.5,3.2,250,2799,0.38,0.00,75.60,0.747,6,0.087,0.000,2537,1848,3483
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin climb
$GC,2802,0.66,97.8,88.2,0.0,257,2883,1.02,0.00,73.80,0.722,6,0.071,0.000,2751,1848,3085
$GC,3072,0.78,212.2,75.1,5.2,279,3169,0.15,2.92,86.00,0.705,4,0.061,0.055,2787,451,2617
$GC,3275,0.78,212.2,60.7,7.8,295,3280,0.00,2.65,0.00,0.000,6,0.000,0.030,2787,1841,2617
$GC,3470,0.78,212.2,46.0,7.6,310,3475,0.00,2.83,0.00,0.000,4,0.000,0.061,2787,449,2616
$GC,3529,0.78,212.2,41.2,8.1,314,3534,0.00,2.67,0.00,0.000,6,0.000,0.030,2787,1852,2617
$GC,3725,0.81,235.7,27.0,7.0,329,3750,0.00,2.92,17.12,0.696,4,0.000,0.061,2787,443,2521
$GC,3808,0.81,235.7,20.7,8.0,335,3815,0.00,2.72,0.00,0.000,6,0.000,0.030,2787,1852,2521
$GC,4013,0.86,282.7,7.0,6.5,365,4056,0.00,2.92,34.65,0.673,4,0.000,0.058,2787,438,2331
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FINISH,3.0,1.021091
$STATE,4094,end surface coast,CONTROL_FINISHED_OK
$STATE,4094,begin surface
$SM_CCo,4117,35.47,0.679,1,0,2056,350.04
$SM_GC,0.92,0.00,0.00,35.47,0.000,0.000,0.679,369,2125,2056,-10.31,0.71,350.04
$IRIDIUM_FIX,4722.92,-12253.53,260907,181853
$TT8_MAMPS,0.026845
$HUMID,2156
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.0,999.0
$24V_AH,23.9,14.620
$10V_AH,10.2,5.863
$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,24.300,61.575,287.175,35.475,0.000,155.922,183.069,295.393,1.250,0.000,0.000,43.806,705.500,2553.931,428.503,687.915,771.659,33.333,821.953,0.000,647.922,0.000,5.546
$DEVICE_MAMPS,148.031,61.360,747.058,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,255.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9602,378
$CFSIZE,260034560,253337600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,155233,4739.487,-12252.374,9,1.7,10,18.3