version: 66.02
glider: 23
mission: 2
dive: 175
start: 9 27 107 0 59 36
data:
$ID,23
$MISSION,2
$DIVE,175
$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,-28652.209
$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,38
$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
$GPS1,005339,4739.605,-12253.072,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.8
$GPS2,005814,4739.600,-12253.094,13,1.4,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,-0.231
$KALMAN_X,11481.5,70.2,-120.0,-11615.0,-52.3
$KALMAN_Y,7468.8,-157.5,-392.4,-7256.9,-121.3
$MHEAD_RNG_PITCHd_Wd,194.9,281,-8.8,-7.407
$D_GRID,117
$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,-97.8,0.0,0.0,0,78,0.00,0.00,-55.88,0.000,2,0.000,0.000,369,2102,3233
$GC,81,-0.66,-97.8,2.2,-3.7,9,124,11.70,2.95,-24.08,0.000,4,0.148,0.058,2462,681,3885
$GC,303,-0.66,-97.8,12.1,-2.9,43,309,0.00,2.83,0.00,0.000,6,0.000,0.031,2461,2100,3887
$GC,375,-0.66,-97.8,14.2,-3.1,54,381,0.00,2.92,0.00,0.000,4,0.000,0.048,2461,677,3887
$GC,474,-0.66,-97.8,18.1,-4.7,69,480,0.00,2.83,0.00,0.000,6,0.000,0.031,2462,2102,3887
$GC,552,-0.66,-97.8,20.9,-3.1,79,556,0.00,2.45,0.00,0.000,4,0.000,0.050,2461,3509,3888
$GC,637,-0.66,-97.8,23.4,-3.0,85,641,0.00,2.40,0.00,0.000,6,0.000,0.032,2462,2086,3888
$GC,839,-0.66,-97.8,29.0,-3.3,101,843,0.00,2.88,0.00,0.000,4,0.000,0.051,2462,691,3889
$GC,924,-0.66,-97.8,32.1,-3.3,107,929,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2109,3888
$GC,1120,-0.66,-97.8,38.0,-3.0,122,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2108,3888
$GC,1310,-0.66,-97.8,44.2,-3.2,137,1315,0.00,2.92,0.00,0.000,4,0.000,0.049,2462,686,3889
$GC,1342,-0.66,-97.8,45.4,-3.3,139,1347,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2101,3889
$GC,1538,-0.66,-97.8,52.2,-3.4,154,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2101,3889
$GC,1730,-0.66,-97.8,57.9,-2.8,169,1734,0.00,2.90,0.00,0.000,4,0.000,0.049,2461,689,3889
$GC,1775,-0.66,-97.8,59.4,-3.2,172,1780,0.00,2.80,0.00,0.000,6,0.000,0.031,2461,2105,3889
$GC,1970,-0.66,-97.8,65.4,-3.4,187,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2105,3889
$GC,2161,-0.66,-97.8,71.9,-3.5,202,2165,0.00,2.90,0.00,0.000,4,0.000,0.050,2461,698,3889
$GC,2212,-0.66,-97.8,73.8,-3.9,205,2219,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2097,3889
$GC,2408,-0.66,-97.8,80.5,-3.4,221,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2097,3889
$GC,2597,-0.66,-97.8,86.5,-3.1,236,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2096,3889
$STATE,2709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2714,-0.31,0.0,89.9,3.1,245,2796,0.38,0.00,76.15,0.742,6,0.082,0.000,2538,1745,3483
$STATE,2797,end apogee,CONTROL_FINISHED_OK
$STATE,2797,begin climb
$GC,2799,0.66,97.8,90.9,0.0,252,2881,1.02,0.00,73.88,0.723,6,0.069,0.000,2752,1745,3084
$GC,3069,0.78,210.0,77.9,5.3,274,3160,0.12,2.67,84.70,0.705,4,0.065,0.044,2780,3166,2626
$GC,3174,0.82,243.2,71.1,6.8,282,3204,0.00,2.62,24.25,0.704,6,0.000,0.038,2781,1751,2492
$GC,3394,0.82,247.1,55.3,7.3,299,3407,0.00,2.90,2.97,0.761,4,0.000,0.064,2781,340,2475
$GC,3478,0.82,247.1,48.3,8.0,305,3485,0.00,2.67,0.00,0.000,6,0.000,0.028,2781,1757,2474
$GC,3674,0.82,247.1,33.2,7.6,321,3678,0.00,2.85,0.00,0.000,4,0.000,0.062,2780,335,2474
$GC,3720,0.82,247.1,29.6,8.1,324,3724,0.00,2.65,0.00,0.000,6,0.000,0.029,2780,1761,2475
$GC,3918,0.87,294.3,15.8,6.5,343,3961,0.00,2.92,34.67,0.680,4,0.000,0.061,2780,346,2283
$GC,4007,0.90,321.3,10.0,6.9,357,4033,0.12,2.65,20.12,0.683,6,0.073,0.029,2806,1762,2174
$STATE,4084,end climb,SURFACE_DEPTH_REACHED
$STATE,4085,begin surface coast
$FINISH,1.6,1.020233
$STATE,4178,end surface coast,CONTROL_FINISHED_OK
$STATE,4178,begin surface
$SM_CCo,4198,16.60,0.701,1,0,2056,350.04
$SM_GC,1.27,0.00,0.00,16.60,0.000,0.000,0.701,367,2107,2056,-10.32,0.25,350.04
$IRIDIUM_FIX,4719.74,-12254.47,270907,030346
$TT8_MAMPS,0.026845
$HUMID,2158
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,37.1
$24V_AH,24.0,15.263
$10V_AH,10.2,6.087
$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,24.450,62.550,316.750,16.600,0.000,39.254,37.035,112.567,1.000,0.000,0.000,16.529,709.821,2421.961,424.984,668.988,312.327,33.329,830.424,0.000,654.639,0.000,5.548
$DEVICE_MAMPS,148.031,63.661,760.864,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,257.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,383
$CFSIZE,260034560,253063168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,021125,4739.409,-12253.305,29,1.6,47,18.3