version: 66.02
glider: 23
mission: 2
dive: 169
start: 9 26 107 17 15 29
data:
$ID,23
$MISSION,2
$DIVE,169
$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,-28724.279
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$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
$GPS1,170946,4739.513,-12252.614,11,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.2
$GPS2,171407,4739.521,-12252.612,32,0.9,37,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.243,-0.151
$KALMAN_X,11523.7,119.9,74.5,-11302.6,135.8
$KALMAN_Y,8703.2,17.8,111.0,-9316.4,338.6
$MHEAD_RNG_PITCHd_Wd,219.8,743,-8.2,-7.407
$D_GRID,123
$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,-0.62,-97.8,0.0,0.0,0,72,0.00,0.00,-50.05,0.000,2,0.000,0.000,366,2122,3103
$GC,75,-0.62,-97.8,2.0,-3.1,8,130,11.68,3.03,-33.10,0.000,4,0.146,0.060,2470,686,3884
$GC,222,-0.62,-97.8,7.9,-5.2,31,229,0.00,2.83,0.00,0.000,6,0.000,0.032,2471,2103,3886
$GC,295,-0.62,-97.8,10.4,-3.2,42,301,0.00,2.45,0.00,0.000,4,0.000,0.050,2470,3514,3886
$GC,439,-0.62,-97.8,15.4,-3.6,64,446,0.00,2.38,0.00,0.000,6,0.000,0.033,2470,2099,3885
$GC,511,-0.62,-97.8,17.6,-3.2,75,518,0.00,2.85,0.00,0.000,4,0.000,0.051,2470,693,3887
$GC,635,-0.62,-97.8,21.8,-3.2,90,643,0.00,2.83,0.00,0.000,6,0.000,0.030,2470,2110,3887
$GC,832,-0.62,-97.8,27.2,-3.0,106,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2108,3887
$GC,1024,-0.62,-97.8,33.1,-3.5,121,1028,0.00,2.90,0.00,0.000,4,0.000,0.049,2470,699,3887
$GC,1075,-0.62,-97.8,35.0,-3.7,124,1082,0.00,2.80,0.00,0.000,6,0.000,0.031,2470,2098,3887
$GC,1271,-0.62,-97.8,41.4,-3.4,140,1276,0.00,2.90,0.00,0.000,4,0.000,0.051,2470,691,3888
$GC,1322,-0.62,-97.8,43.4,-4.2,143,1330,0.00,2.83,0.00,0.000,6,0.000,0.031,2470,2099,3887
$GC,1519,-0.62,-97.8,49.5,-3.1,159,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2098,3887
$GC,1709,-0.62,-97.8,55.7,-3.4,174,1714,0.00,2.90,0.00,0.000,4,0.000,0.050,2470,686,3887
$GC,1760,-0.62,-97.8,57.8,-4.0,177,1767,0.00,2.83,0.00,0.000,6,0.000,0.031,2470,2100,3887
$GC,1956,-0.62,-97.8,64.4,-3.3,193,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2098,3888
$GC,2147,-0.62,-97.8,70.5,-3.2,208,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2099,3887
$GC,2336,-0.62,-97.8,76.6,-3.2,223,2341,0.00,2.90,0.00,0.000,4,0.000,0.051,2470,689,3887
$GC,2382,-0.62,-97.8,78.3,-3.9,226,2386,0.00,2.80,0.00,0.000,6,0.000,0.031,2470,2105,3887
$GC,2577,-0.62,-97.8,84.4,-3.0,241,2581,0.00,2.90,0.00,0.000,4,0.000,0.051,2470,696,3887
$GC,2623,-0.62,-97.8,86.0,-3.8,244,2627,0.00,2.80,0.00,0.000,6,0.000,0.032,2470,2108,3887
$STATE,2715,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2715,begin apogee
$GC,2720,-0.31,0.0,88.7,2.8,251,2802,0.35,0.00,75.62,0.750,6,0.084,0.000,2540,1746,3484
$STATE,2803,end apogee,CONTROL_FINISHED_OK
$STATE,2803,begin climb
$GC,2805,0.62,97.8,89.4,0.0,258,2886,0.98,0.00,74.15,0.723,6,0.071,0.000,2743,1746,3084
$GC,3075,0.77,234.1,75.9,5.0,280,3187,0.15,2.67,102.32,0.703,4,0.055,0.044,2779,3158,2527
$GC,3212,0.80,268.4,67.0,6.8,291,3243,0.00,2.60,25.60,0.703,6,0.000,0.038,2778,1754,2389
$GC,3432,0.85,306.7,52.2,6.7,308,3469,0.00,2.90,28.23,0.696,4,0.000,0.063,2779,343,2231
$GC,3537,0.85,306.7,44.8,7.6,316,3541,0.00,2.65,0.00,0.000,6,0.000,0.029,2779,1759,2231
$GC,3732,0.87,330.0,31.1,7.0,331,3757,0.00,2.92,17.33,0.695,4,0.000,0.062,2778,330,2138
$GC,3796,0.88,341.4,26.5,7.2,336,3810,0.12,2.65,8.45,0.710,6,0.075,0.029,2804,1752,2092
$GC,4003,0.88,342.4,10.3,7.4,361,4009,0.00,2.85,0.00,0.000,4,0.000,0.064,2804,335,2092
$GC,4068,0.89,344.3,5.4,7.4,371,4076,0.00,2.65,2.08,0.763,6,0.000,0.030,2804,1759,2080
$STATE,4080,end climb,SURFACE_DEPTH_REACHED
$STATE,4080,begin surface coast
$FINISH,1.5,1.020231
$STATE,4161,end surface coast,CONTROL_FINISHED_OK
$STATE,4161,begin surface
$SM_CCo,4180,3.42,0.768,0,0,2057,350.04
$SM_GC,1.53,0.00,0.00,3.42,0.000,0.000,0.768,368,2109,2057,-10.32,0.25,350.04
$IRIDIUM_FIX,4722.92,-12249.11,260907,191904
$TT8_MAMPS,0.026845
$HUMID,2163
$TCM_TEMP,19.70
$XPDR_PINGS,99
$ALTIM_BOTTOM_PING,85.3,34.6
$24V_AH,23.9,14.777
$10V_AH,10.2,5.919
$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,24.350,68.250,333.775,3.425,0.000,38.586,27.564,89.104,25.500,0.000,0.000,40.338,714.244,2360.309,444.859,694.415,274.821,33.339,853.294,0.000,657.039,0.000,5.544
$DEVICE_MAMPS,145.730,64.428,763.165,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,259.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9591,385
$CFSIZE,260034560,253267968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,182608,4739.413,-12252.941,12,1.1,13,18.3