version: 66.02
glider: 23
mission: 2
dive: 180
start: 9 27 107 7 47 17
data:
$ID,23
$MISSION,2
$DIVE,180
$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,-28591.357
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,074023,4739.453,-12252.144,7,3.2,27,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.2
$GPS2,074555,4739.456,-12252.143,35,1.6,39,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.274,-0.036
$KALMAN_X,11609.2,-34.1,65.9,-10632.3,51.9
$KALMAN_Y,7608.2,-95.8,244.1,-8357.4,67.4
$MHEAD_RNG_PITCHd_Wd,244.2,324,-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,-97.8,0.0,0.0,0,78,0.00,0.00,-56.03,0.000,2,0.000,0.000,365,2009,3226
$GC,81,-0.66,-97.8,2.0,-3.5,9,130,11.70,2.97,-27.67,0.000,4,0.148,0.059,2461,582,3883
$GC,169,-0.66,-97.8,5.1,-6.2,23,176,0.00,2.78,0.00,0.000,6,0.000,0.029,2460,1995,3885
$GC,242,-0.66,-97.8,8.4,-4.1,34,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3885
$GC,313,-0.66,-97.8,10.7,-2.9,45,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3886
$GC,385,-0.66,-97.8,12.5,-2.5,56,392,0.00,2.50,0.00,0.000,4,0.000,0.047,2460,3419,3886
$GC,518,-0.66,-97.8,16.3,-3.2,76,524,0.00,2.42,0.00,0.000,6,0.000,0.033,2460,1998,3887
$GC,590,-0.66,-97.8,18.9,-3.1,87,596,0.00,2.88,0.00,0.000,4,0.000,0.052,2460,583,3887
$GC,642,-0.66,-97.8,20.8,-3.7,94,647,0.00,2.78,0.00,0.000,6,0.000,0.029,2460,2001,3887
$GC,838,-0.66,-97.8,27.3,-3.2,109,842,0.00,2.47,0.00,0.000,4,0.000,0.048,2460,3421,3887
$GC,910,-0.66,-97.8,29.6,-3.5,114,914,0.00,2.45,0.00,0.000,6,0.000,0.035,2460,1995,3888
$GC,1105,-0.66,-97.8,35.7,-3.1,129,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3888
$GC,1297,-0.66,-97.8,41.2,-2.8,144,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3888
$GC,1485,-0.66,-97.8,46.2,-2.5,159,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3888
$GC,1674,-0.66,-97.8,51.0,-2.8,174,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1994,3888
$GC,1863,-0.66,-97.8,56.8,-3.1,189,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3888
$GC,2054,-0.66,-97.8,62.9,-3.1,204,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3888
$GC,2242,-0.66,-97.8,69.0,-3.3,219,2247,0.00,2.88,0.00,0.000,4,0.000,0.054,2460,579,3888
$GC,2280,-0.66,-97.8,70.3,-3.5,221,2287,0.00,2.78,0.00,0.000,6,0.000,0.030,2460,2001,3888
$GC,2476,-0.66,-97.8,75.8,-2.4,237,2480,0.00,2.50,0.00,0.000,4,0.000,0.051,2460,3428,3888
$GC,2522,-0.66,-97.8,77.2,-3.0,240,2526,0.00,2.45,0.00,0.000,6,0.000,0.035,2460,1998,3888
$GC,2717,-0.66,-97.8,82.1,-2.2,255,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1998,3888
$GC,2906,-0.66,-97.8,87.4,-2.8,270,2911,0.00,2.88,0.00,0.000,4,0.000,0.053,2460,581,3888
$GC,2958,-0.66,-97.8,89.2,-3.7,273,2965,0.00,2.80,0.00,0.000,6,0.000,0.030,2460,2000,3888
$STATE,3013,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3013,begin apogee
$GC,3019,-0.31,0.0,91.0,3.4,278,3100,0.40,0.00,75.62,0.752,6,0.084,0.000,2540,1538,3483
$STATE,3101,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3103,0.66,97.8,92.1,0.0,285,3186,1.00,2.83,73.93,0.729,4,0.069,0.042,2749,2982,3083
$GC,3225,0.78,206.0,87.0,5.3,295,3314,0.15,2.78,80.75,0.716,6,0.052,0.041,2786,1551,2643
$GC,3511,0.78,206.0,66.3,7.6,318,3515,0.00,2.72,0.00,0.000,4,0.000,0.039,2786,2977,2643
$GC,3562,0.78,211.2,62.3,7.3,321,3573,0.00,2.80,3.90,0.770,6,0.000,0.044,2786,1548,2622
$GC,3770,0.79,219.8,47.3,7.2,338,3783,0.00,0.00,6.07,0.746,6,0.000,0.000,2786,1549,2588
$GC,3972,0.82,246.5,33.5,6.9,354,3997,0.00,2.80,19.88,0.709,4,0.000,0.038,2786,2968,2477
$GC,4029,0.84,262.6,29.3,7.1,358,4049,0.00,2.80,11.77,0.713,6,0.000,0.044,2786,1546,2413
$GC,4240,0.87,293.4,14.6,6.8,380,4265,0.00,0.00,22.42,0.695,6,0.000,0.000,2786,1547,2286
$GC,4332,0.93,344.3,8.8,6.4,394,4376,0.12,2.83,37.38,0.675,4,0.060,0.038,2817,2972,2079
$STATE,4387,end climb,SURFACE_DEPTH_REACHED
$STATE,4388,begin surface coast
$FINISH,4.1,1.021472
$STATE,4401,end surface coast,CONTROL_FINISHED_OK
$STATE,4401,begin surface
$SM_CCo,4423,3.33,0.764,0,0,2057,350.04
$SM_GC,2.72,0.00,0.00,3.33,0.000,0.000,0.764,365,1992,2057,-10.33,-0.23,350.04
$IRIDIUM_FIX,4726.11,-12253.53,270907,101031
$TT8_MAMPS,0.026845
$HUMID,2157
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.2,34.7
$24V_AH,24.0,15.692
$10V_AH,10.2,6.238
$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,24.700,59.900,331.725,3.325,0.000,38.394,45.209,135.997,1.500,0.000,0.000,40.508,743.740,2561.344,437.189,710.208,349.123,33.328,855.832,0.000,671.751,0.000,5.545
$DEVICE_MAMPS,148.031,59.059,770.068,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,272.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12717,405
$CFSIZE,260034560,252874752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,090226,4739.246,-12252.857,40,1.3,41,18.3