version: 66.02
glider: 23
mission: 2
dive: 170
start: 9 26 107 18 32 30
data:
$ID,23
$MISSION,2
$DIVE,170
$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,-28710.783
$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,21
$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
$GPS1,182608,4739.413,-12252.941,12,1.1,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.8
$GPS2,183108,4739.413,-12252.946,15,1.2,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.274,-0.039
$KALMAN_X,11643.0,160.4,140.1,-11943.1,93.2
$KALMAN_Y,8677.9,81.8,304.0,-9744.4,156.0
$MHEAD_RNG_PITCHd_Wd,243.6,334,-8.8,-7.407
$D_GRID,116
$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,-0.66,-97.8,0.0,0.0,0,77,0.00,0.00,-55.12,0.000,2,0.000,0.000,368,2109,3203
$GC,80,-0.66,-97.8,2.0,-2.9,9,129,11.68,2.95,-29.85,0.000,4,0.147,0.058,2462,683,3885
$GC,248,-0.66,-97.8,9.4,-4.3,35,255,0.00,2.83,0.00,0.000,6,0.000,0.032,2462,2102,3887
$GC,320,-0.66,-97.8,12.2,-3.7,46,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2102,3886
$GC,392,-0.66,-97.8,14.3,-2.7,57,398,0.00,2.45,0.00,0.000,4,0.000,0.050,2462,3512,3887
$GC,451,-0.66,-97.8,16.3,-3.4,66,457,0.00,2.40,0.00,0.000,6,0.000,0.032,2462,2089,3887
$GC,523,-0.66,-97.8,18.5,-3.0,77,529,0.00,2.88,0.00,0.000,4,0.000,0.051,2462,692,3887
$GC,608,-0.66,-97.8,21.4,-3.7,87,614,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2107,3887
$GC,803,-0.66,-97.8,27.9,-3.3,103,808,0.00,2.92,0.00,0.000,4,0.000,0.048,2462,684,3888
$GC,836,-0.66,-97.8,28.9,-3.4,105,840,0.00,2.83,0.00,0.000,6,0.000,0.030,2462,2112,3888
$GC,1031,-0.66,-97.8,34.9,-2.8,120,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2111,3888
$GC,1222,-0.66,-97.8,40.4,-2.8,135,1226,0.00,2.92,0.00,0.000,4,0.000,0.050,2462,687,3888
$GC,1254,-0.66,-97.8,41.5,-3.4,137,1258,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2103,3888
$GC,1449,-0.66,-97.8,47.1,-2.9,152,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2103,3888
$GC,1639,-0.66,-97.8,52.7,-3.0,167,1644,0.00,2.90,0.00,0.000,4,0.000,0.050,2462,695,3888
$GC,1698,-0.66,-97.8,54.8,-3.2,171,1703,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2114,3888
$GC,1893,-0.66,-97.8,60.6,-3.4,186,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2113,3888
$GC,2084,-0.66,-97.8,66.7,-3.0,201,2089,0.00,2.92,0.00,0.000,4,0.000,0.051,2462,696,3889
$GC,2148,-0.66,-97.8,69.1,-3.6,205,2155,0.00,2.83,0.00,0.000,6,0.000,0.031,2462,2103,3888
$GC,2344,-0.66,-97.8,75.7,-3.3,221,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2102,3888
$GC,2535,-0.66,-97.8,81.0,-2.7,236,2540,0.00,2.90,0.00,0.000,4,0.000,0.051,2462,690,3888
$GC,2599,-0.66,-97.8,83.2,-3.2,240,2606,0.00,2.83,0.00,0.000,6,0.000,0.032,2462,2103,3888
$STATE,2705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2705,begin apogee
$GC,2711,-0.31,0.0,86.2,2.8,249,2792,0.38,0.00,75.82,0.743,6,0.083,0.000,2538,1739,3483
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,0.66,97.8,86.8,0.0,256,2876,1.02,0.00,74.00,0.720,6,0.070,0.000,2751,1739,3084
$GC,3065,0.77,203.5,72.7,5.4,278,3151,0.12,2.67,78.93,0.719,4,0.062,0.044,2780,3156,2652
$GC,3204,0.79,218.0,63.8,7.1,289,3220,0.00,2.60,10.55,0.729,6,0.000,0.040,2780,1752,2594
$GC,3418,0.81,233.3,49.2,7.1,306,3434,0.00,2.85,11.18,0.719,4,0.000,0.062,2780,339,2532
$GC,3495,0.81,233.3,42.9,8.5,312,3500,0.00,2.65,0.00,0.000,6,0.000,0.028,2780,1768,2531
$GC,3697,0.83,258.2,28.6,6.9,328,3723,0.00,2.90,18.27,0.700,4,0.000,0.061,2780,342,2431
$GC,3767,0.84,264.6,23.5,7.3,333,3779,0.00,2.65,4.88,0.730,6,0.000,0.029,2780,1749,2404
$GC,3978,0.94,354.8,10.5,5.7,361,4052,0.15,2.88,67.20,0.666,4,0.062,0.063,2818,343,2036
$STATE,4058,end climb,SURFACE_DEPTH_REACHED
$STATE,4058,begin surface coast
$FINISH,2.8,1.021314
$STATE,4092,end surface coast,CONTROL_FINISHED_OK
$STATE,4092,begin surface
$SM_CCo,4175,0.00,0.000,0,0,2032,355.93
$SM_GC,1.17,11.27,0.00,0.00,0.046,0.000,0.000,368,2095,2032,-10.26,-0.17,355.93
$IRIDIUM_FIX,4719.74,-12254.47,260907,212119
$TT8_MAMPS,0.026845
$HUMID,2163
$TCM_TEMP,19.70
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,85.1,999.0
$24V_AH,23.9,14.859
$10V_AH,10.2,5.946
$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,24.625,68.325,340.825,0.000,0.000,38.770,36.042,136.444,13.000,0.000,0.000,16.553,694.708,2389.277,438.073,663.370,330.847,33.337,847.076,0.000,648.416,0.000,5.543
$DEVICE_MAMPS,147.264,62.894,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,254.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,379
$CFSIZE,260034560,253239296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,194256,4739.230,-12253.458,10,1.8,11,18.3