version: 66.02
glider: 23
mission: 2
dive: 178
start: 9 27 107 4 54 43
data:
$ID,23
$MISSION,2
$DIVE,178
$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,100
$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,-28602.621
$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,2000
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,19
$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
$GPS1,044607,4739.345,-12252.160,37,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.2
$GPS2,045320,4739.354,-12252.180,9,1.0,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.269,-0.063
$KALMAN_X,11612.6,13.7,-45.9,-10622.6,58.5
$KALMAN_Y,7751.9,-136.5,-108.8,-8297.2,285.8
$MHEAD_RNG_PITCHd_Wd,238.5,346,-8.8,-7.407
$D_GRID,125
$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,-97.8,0.0,0.0,0,97,0.00,0.00,-73.72,0.000,2,0.000,0.000,367,2004,3627
$GC,99,-0.66,-97.8,2.1,-1.1,12,125,11.85,2.97,-7.28,0.000,4,0.153,0.062,2463,574,3884
$GC,304,-0.66,-97.8,12.5,-3.0,43,310,0.00,2.80,0.00,0.000,6,0.000,0.029,2463,1998,3887
$GC,376,-0.66,-97.8,14.3,-2.8,54,382,0.00,2.92,0.00,0.000,4,0.000,0.048,2463,569,3887
$GC,428,-0.66,-97.8,15.8,-2.8,62,435,0.00,2.80,0.00,0.000,6,0.000,0.029,2463,2001,3888
$GC,500,-0.66,-97.8,17.8,-2.8,73,506,0.00,2.47,0.00,0.000,4,0.000,0.049,2463,3423,3888
$GC,546,-0.66,-97.8,19.2,-3.0,80,552,0.00,2.45,0.00,0.000,6,0.000,0.033,2463,1988,3888
$GC,616,-0.66,-97.8,21.2,-2.8,88,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1988,3888
$GC,808,-0.66,-97.8,27.0,-3.0,103,813,0.00,2.88,0.00,0.000,4,0.000,0.052,2463,581,3889
$GC,853,-0.66,-97.8,28.8,-4.0,106,858,0.00,2.80,0.00,0.000,6,0.000,0.029,2463,2000,3889
$GC,1049,-0.66,-97.8,35.5,-3.3,121,1053,0.00,2.47,0.00,0.000,4,0.000,0.049,2463,3422,3889
$GC,1094,-0.66,-97.8,37.3,-3.9,124,1099,0.00,2.45,0.00,0.000,6,0.000,0.035,2463,1993,3889
$GC,1290,-0.66,-97.8,43.9,-3.5,139,1294,0.00,2.90,0.00,0.000,4,0.000,0.054,2463,578,3889
$GC,1327,-0.66,-97.8,45.5,-4.3,141,1335,0.00,2.83,0.00,0.000,6,0.000,0.030,2463,1998,3889
$GC,1524,-0.66,-97.8,52.3,-3.1,157,1529,0.00,2.47,0.00,0.000,4,0.000,0.050,2463,3418,3889
$GC,1562,-0.66,-97.8,53.8,-4.1,159,1570,0.00,2.45,0.00,0.000,6,0.000,0.035,2463,1999,3889
$GC,1759,-0.66,-97.8,59.7,-2.9,175,1764,0.00,2.92,0.00,0.000,4,0.000,0.054,2463,576,3889
$GC,1804,-0.66,-97.8,61.2,-3.3,178,1809,0.00,2.80,0.00,0.000,6,0.000,0.030,2463,2000,3889
$GC,2000,-0.66,-97.8,67.6,-3.1,193,2004,0.00,2.47,0.00,0.000,4,0.000,0.051,2463,3426,3889
$GC,2051,-0.66,-97.8,69.4,-3.8,196,2059,0.00,2.47,0.00,0.000,6,0.000,0.035,2463,1994,3889
$GC,2248,-0.66,-97.8,75.5,-3.3,212,2252,0.00,2.90,0.00,0.000,4,0.000,0.054,2463,581,3889
$GC,2286,-0.66,-97.8,77.0,-4.2,214,2293,0.00,2.80,0.00,0.000,6,0.000,0.029,2463,1994,3889
$GC,2482,-0.66,-97.8,83.6,-3.2,230,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1993,3889
$GC,2671,-0.66,-97.8,88.9,-2.5,245,2676,0.00,2.90,0.00,0.000,4,0.000,0.052,2463,578,3888
$GC,2757,-0.66,-97.8,91.5,-3.2,251,2761,0.00,2.80,0.00,0.000,6,0.000,0.030,2463,2001,3888
$GC,2952,-0.66,-97.8,96.7,-2.8,266,2956,0.00,2.45,0.00,0.000,4,0.000,0.051,2463,3416,3889
$STATE,3009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3009,begin apogee
$GC,3018,-0.31,0.0,98.5,3.5,270,3097,0.35,0.00,75.53,0.757,6,0.089,0.000,2536,1538,3484
$STATE,3098,end apogee,CONTROL_FINISHED_OK
$STATE,3098,begin climb
$GC,3100,0.66,97.8,99.4,0.0,277,3182,1.02,2.80,74.00,0.734,4,0.070,0.041,2750,2979,3084
$GC,3240,0.76,191.0,92.6,5.6,288,3315,0.08,2.78,69.30,0.723,6,0.046,0.041,2776,1556,2704
$GC,3503,0.78,213.1,75.1,7.0,309,3526,0.00,0.00,16.65,0.728,6,0.000,0.000,2776,1556,2615
$GC,3715,0.81,241.8,60.6,6.9,326,3743,0.00,2.80,20.98,0.716,4,0.000,0.038,2776,2975,2497
$GC,3778,0.86,284.4,56.4,6.6,331,3815,0.00,2.78,31.98,0.701,6,0.000,0.044,2776,1540,2323
$GC,4003,0.92,336.5,41.5,6.4,349,4045,0.15,0.00,38.95,0.690,6,0.058,0.000,2813,1540,2112
$GC,4228,0.92,336.5,22.2,8.4,367,4232,0.00,2.60,0.00,0.000,4,0.000,0.070,2813,212,2112
$GC,4274,0.92,336.5,17.8,9.7,372,4281,0.00,2.42,0.00,0.000,6,0.000,0.028,2813,1582,2112
$GC,4346,0.92,336.5,11.9,7.6,383,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1582,2112
$GC,4418,0.97,382.4,6.7,6.5,394,4450,0.00,0.00,29.27,0.673,2,0.000,0.000,2813,1582,1951
$STATE,4450,end climb,SURFACE_DEPTH_REACHED
$STATE,4450,begin surface coast
$FINISH,0.8,1.020032
$STATE,4535,end surface coast,CONTROL_FINISHED_OK
$STATE,4535,begin surface
$SM_CCo,4616,0.00,0.000,0,0,1947,377.03
$SM_GC,1.09,11.12,0.00,0.00,0.041,0.000,0.000,367,1982,1947,-10.26,-0.51,377.03
$IRIDIUM_FIX,4719.74,-12251.79,270907,070748
$TT8_MAMPS,0.026078
$HUMID,2161
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.2,36.3
$24V_AH,24.0,15.528
$10V_AH,10.2,6.177
$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,24.575,82.675,356.650,0.000,0.000,39.499,32.372,279.235,1.250,0.000,0.000,16.398,767.108,2649.759,465.919,727.369,480.048,33.332,911.147,0.000,711.258,0.000,5.545
$DEVICE_MAMPS,153.400,69.797,757.029,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,277.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,412
$CFSIZE,260034560,252944384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,061232,4739.341,-12252.583,7,1.2,13,18.3