version: 66.02
glider: 23
mission: 2
dive: 172
start: 9 26 107 21 4 56
data:
$ID,23
$MISSION,2
$DIVE,172
$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,-28697.605
$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,19
$R_STBD_OVSHOOT,40
$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
$GPS1,205838,4739.186,-12253.356,29,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.8
$GPS2,210334,4739.175,-12253.386,9,2.1,28,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,0.266
$KALMAN_X,11485.8,154.1,149.0,-12329.1,-106.8
$KALMAN_Y,7986.3,21.3,267.0,-9385.8,-301.5
$MHEAD_RNG_PITCHd_Wd,3.2,587,-8.2,-7.407
$D_GRID,130
$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,-0.62,-97.8,0.0,0.0,0,108,0.00,0.00,-85.25,0.000,2,0.000,0.000,367,2125,3876
$GC,110,-0.62,-97.8,2.4,-1.2,14,129,11.77,2.38,0.00,0.000,4,0.150,0.046,2469,3499,3880
$GC,380,-0.62,-97.8,16.5,-2.9,55,386,0.00,2.40,0.00,0.000,6,0.000,0.033,2468,2076,3884
$GC,452,-0.62,-97.8,18.6,-3.0,66,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2076,3883
$GC,529,-0.62,-97.8,20.9,-3.0,76,533,0.00,2.83,0.00,0.000,4,0.000,0.051,2469,688,3883
$GC,580,-0.62,-97.8,22.3,-2.9,79,587,0.00,2.80,0.00,0.000,6,0.000,0.029,2470,2093,3883
$GC,776,-0.62,-97.8,28.1,-2.9,95,780,0.00,2.45,0.00,0.000,4,0.000,0.051,2469,3506,3884
$GC,822,-0.62,-97.8,29.7,-3.7,98,826,0.00,2.38,0.00,0.000,6,0.000,0.034,2467,2096,3884
$GC,1017,-0.62,-97.8,35.8,-3.1,113,1022,0.00,2.88,0.00,0.000,4,0.000,0.052,2468,691,3885
$GC,1069,-0.62,-97.8,37.7,-3.5,116,1076,0.00,2.80,0.00,0.000,6,0.000,0.030,2469,2098,3884
$GC,1265,-0.62,-97.8,43.3,-3.0,132,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2099,3885
$GC,1456,-0.62,-97.8,48.9,-2.8,147,1460,0.00,2.90,0.00,0.000,4,0.000,0.050,2468,688,3885
$GC,1494,-0.62,-97.8,50.1,-3.3,149,1501,0.00,2.80,0.00,0.000,6,0.000,0.031,2468,2109,3885
$GC,1690,-0.62,-97.8,56.1,-3.3,165,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2109,3885
$GC,1880,-0.62,-97.8,62.7,-3.4,180,1884,0.00,2.90,0.00,0.000,4,0.000,0.050,2468,695,3884
$GC,1918,-0.62,-97.8,64.2,-3.8,182,1925,0.00,2.83,0.00,0.000,6,0.000,0.031,2469,2107,3885
$GC,2114,-0.62,-97.8,70.8,-3.4,198,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2106,3885
$GC,2304,-0.62,-97.8,77.0,-3.4,213,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2106,3884
$GC,2494,-0.62,-97.8,82.7,-2.9,228,2498,0.00,2.90,0.00,0.000,4,0.000,0.051,2469,693,3884
$GC,2558,-0.62,-97.8,84.9,-3.3,232,2565,0.00,2.83,0.00,0.000,6,0.000,0.031,2468,2105,3884
$STATE,2716,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2716,begin apogee
$GC,2722,-0.31,0.0,89.1,2.9,245,2802,0.35,0.00,75.07,0.743,6,0.090,0.000,2538,1741,3483
$STATE,2802,end apogee,CONTROL_FINISHED_OK
$STATE,2803,begin climb
$GC,2804,0.62,97.8,89.7,0.0,252,2886,0.98,0.00,73.80,0.723,6,0.071,0.000,2741,1741,3085
$GC,3074,0.76,228.3,76.4,5.1,274,3184,0.17,2.75,97.90,0.703,4,0.058,0.044,2781,3165,2552
$GC,3277,0.77,235.9,63.2,7.3,290,3290,0.00,2.60,5.55,0.737,6,0.000,0.040,2781,1759,2521
$GC,3477,0.77,235.9,49.0,7.5,306,3482,0.00,2.83,0.00,0.000,4,0.000,0.064,2781,338,2521
$GC,3550,0.77,235.9,42.8,8.5,311,3554,0.00,2.65,0.00,0.000,6,0.000,0.028,2781,1765,2521
$GC,3745,0.78,248.8,27.9,7.2,326,3762,0.00,2.95,9.35,0.714,4,0.000,0.061,2781,332,2468
$GC,3796,0.78,248.8,24.1,7.6,330,3801,0.00,2.65,0.00,0.000,6,0.000,0.028,2781,1753,2468
$GC,3998,0.87,327.7,10.6,6.0,355,4065,0.00,2.90,58.78,0.672,4,0.000,0.061,2781,329,2147
$STATE,4096,end climb,SURFACE_DEPTH_REACHED
$STATE,4096,begin surface coast
$FINISH,4.4,1.021828
$STATE,4103,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4127,15.77,0.693,0,0,2056,350.04
$SM_GC,1.64,0.00,0.00,15.77,0.000,0.000,0.693,366,2092,2056,-10.33,-0.23,350.04
$IRIDIUM_FIX,4722.92,-12221.66,260907,232330
$TT8_MAMPS,0.026845
$HUMID,2163
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.4,999.0
$24V_AH,24.0,15.017
$10V_AH,10.2,6.001
$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,24.375,61.575,320.450,15.775,0.000,40.596,52.313,104.120,2.000,0.000,0.000,31.918,680.383,2382.359,441.576,667.213,310.783,33.332,837.118,0.000,638.161,0.000,5.543
$DEVICE_MAMPS,149.565,64.428,743.223,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,249.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9595,372
$CFSIZE,260034560,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,221451,4739.215,-12253.276,9,1.4,10,18.3