version: 66.02
glider: 23
mission: 2
dive: 174
start: 9 26 107 23 42 48
data:
$ID,23
$MISSION,2
$DIVE,174
$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,-28665.879
$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,36
$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
$GPS1,233707,4739.345,-12253.197,39,0.9,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.6
$GPS2,234126,4739.343,-12253.188,10,1.7,10,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,0.270
$KALMAN_X,11427.2,105.2,-37.1,-11796.2,-143.7
$KALMAN_Y,7491.0,-101.4,-203.4,-7997.9,-333.8
$MHEAD_RNG_PITCHd_Wd,354.5,230,-8.8,-7.407
$D_GRID,119
$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,-97.8,0.0,0.0,0,95,0.00,0.00,-73.05,0.000,2,0.000,0.000,367,2112,3370
$GC,98,-0.66,-97.8,2.1,-3.5,12,136,11.75,2.42,-19.02,0.000,4,0.150,0.063,2461,3495,3883
$GC,234,-0.66,-97.8,8.8,-4.5,33,241,0.00,2.40,0.00,0.000,6,0.000,0.033,2461,2080,3885
$GC,307,-0.66,-97.8,11.3,-3.3,44,313,0.00,2.85,0.00,0.000,4,0.000,0.051,2461,690,3885
$GC,339,-0.66,-97.8,12.5,-3.6,49,345,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2107,3885
$GC,411,-0.66,-97.8,14.5,-2.3,60,417,0.00,2.42,0.00,0.000,4,0.000,0.050,2461,3501,3886
$GC,504,-0.66,-97.8,18.1,-4.6,74,510,0.00,2.38,0.00,0.000,6,0.000,0.032,2461,2091,3886
$GC,581,-0.66,-97.8,20.9,-3.5,84,585,0.00,2.85,0.00,0.000,4,0.000,0.050,2461,695,3886
$GC,680,-0.66,-97.8,23.8,-3.1,91,684,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,2107,3886
$GC,875,-0.66,-97.8,28.8,-2.4,106,879,0.00,2.42,0.00,0.000,4,0.000,0.050,2461,3499,3887
$GC,953,-0.66,-97.8,31.3,-3.4,111,960,0.00,2.40,0.00,0.000,6,0.000,0.034,2461,2098,3888
$GC,1149,-0.66,-97.8,37.5,-3.1,127,1154,0.00,2.88,0.00,0.000,4,0.000,0.053,2461,694,3887
$GC,1189,-0.66,-97.8,38.7,-3.5,129,1195,0.00,2.78,0.00,0.000,6,0.000,0.031,2461,2102,3887
$GC,1384,-0.66,-97.8,45.9,-4.1,145,1388,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,694,3888
$GC,1422,-0.66,-97.8,47.3,-4.3,147,1429,0.00,2.83,0.00,0.000,6,0.000,0.031,2461,2105,3887
$GC,1618,-0.66,-97.8,53.6,-3.1,163,1623,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,685,3888
$GC,1651,-0.66,-97.8,54.6,-3.3,165,1655,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2106,3887
$GC,1846,-0.66,-97.8,60.7,-3.1,180,1850,0.00,2.42,0.00,0.000,4,0.000,0.051,2461,3500,3888
$GC,1897,-0.66,-97.8,62.5,-3.5,183,1904,0.00,2.40,0.00,0.000,6,0.000,0.034,2461,2094,3887
$GC,2093,-0.66,-97.8,67.8,-2.8,199,2098,0.00,2.88,0.00,0.000,4,0.000,0.053,2461,696,3887
$GC,2139,-0.66,-97.8,69.0,-2.9,202,2144,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2114,3887
$GC,2335,-0.66,-97.8,74.0,-2.5,217,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2112,3887
$GC,2525,-0.66,-97.8,79.5,-3.1,232,2530,0.00,2.92,0.00,0.000,4,0.000,0.051,2461,691,3887
$GC,2668,-0.66,-97.8,84.2,-3.5,242,2676,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2098,3887
$STATE,2712,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2712,begin apogee
$GC,2718,-0.31,0.0,85.3,2.4,246,2799,0.40,0.00,75.55,0.741,6,0.085,0.000,2541,1748,3484
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin climb
$GC,2802,0.66,97.8,85.7,0.0,253,2879,0.98,0.00,73.85,0.718,6,0.067,0.000,2750,1748,3085
$GC,3063,0.74,176.7,72.4,5.9,274,3127,0.00,2.70,58.72,0.706,4,0.000,0.044,2750,3153,2762
$GC,3201,0.78,210.2,63.8,6.8,285,3233,0.15,2.60,25.17,0.709,6,0.055,0.038,2785,1748,2627
$GC,3422,0.79,216.0,47.7,7.3,302,3434,0.00,2.88,4.07,0.747,4,0.000,0.064,2786,335,2602
$GC,3486,0.82,242.8,43.1,6.9,307,3512,0.00,2.65,19.40,0.700,6,0.000,0.028,2787,1769,2494
$GC,3700,0.82,242.8,28.3,8.3,324,3704,0.00,2.88,0.00,0.000,4,0.000,0.062,2786,331,2494
$GC,3738,0.82,242.8,25.2,8.3,326,3745,0.00,2.65,0.00,0.000,6,0.000,0.028,2786,1742,2494
$GC,3940,0.83,251.5,10.7,7.2,351,3953,0.00,2.83,6.90,0.716,4,0.000,0.061,2786,341,2457
$GC,3979,0.83,251.5,7.7,8.0,357,3986,0.00,2.65,0.00,0.000,6,0.000,0.029,2786,1762,2457
$STATE,4022,end climb,SURFACE_DEPTH_REACHED
$STATE,4023,begin surface coast
$FINISH,0.8,1.020250
$STATE,4123,end surface coast,CONTROL_FINISHED_OK
$STATE,4123,begin surface
$SM_CCo,4143,51.85,0.682,1,0,2056,350.04
$SM_GC,1.15,0.00,0.00,51.85,0.000,0.000,0.682,368,2102,2056,-10.31,0.06,350.04
$IRIDIUM_FIX,4719.74,-12251.79,270907,020201
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.70
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,24.0,15.186
$10V_AH,10.2,6.060
$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,24.250,82.275,263.675,51.850,0.000,39.578,36.486,101.903,5.000,0.000,0.000,12.984,723.272,2336.570,452.751,689.251,300.991,33.328,873.629,0.000,679.281,0.000,5.545
$DEVICE_MAMPS,149.565,63.661,747.058,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,255.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9589,379
$CFSIZE,260034560,253095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,005339,4739.605,-12253.072,8,1.4,8,18.3