version: 66.02
glider: 23
mission: 2
dive: 181
start: 9 27 107 9 8 13
data:
$ID,23
$MISSION,2
$DIVE,181
$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,-28572.93
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,090226,4739.246,-12252.857,40,1.3,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.6
$GPS2,090651,4739.249,-12252.863,12,1.3,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,0.176
$KALMAN_X,11470.8,-42.3,94.1,-11413.1,-76.5
$KALMAN_Y,7379.8,-97.1,258.6,-8522.5,-103.6
$MHEAD_RNG_PITCHd_Wd,33.8,704,-8.2,-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,-0.62,-97.8,0.0,0.0,0,96,0.00,0.00,-73.72,0.000,2,0.000,0.000,366,1992,3618
$GC,99,-0.62,-97.8,2.0,-0.8,12,125,11.85,2.97,-7.85,0.000,4,0.151,0.064,2470,579,3885
$GC,376,-0.62,-97.8,14.9,-3.2,54,382,0.00,2.80,0.00,0.000,6,0.000,0.029,2471,2002,3886
$GC,448,-0.62,-97.8,16.8,-2.7,65,454,0.00,2.92,0.00,0.000,4,0.000,0.051,2471,581,3886
$GC,480,-0.62,-97.8,17.7,-2.9,70,487,0.00,2.80,0.00,0.000,6,0.000,0.029,2470,2002,3886
$GC,552,-0.62,-97.8,20.0,-3.1,81,557,0.00,2.47,0.00,0.000,4,0.000,0.049,2471,3416,3887
$GC,603,-0.62,-97.8,21.8,-3.8,84,611,0.00,2.47,0.00,0.000,6,0.000,0.034,2470,1992,3888
$GC,800,-0.62,-97.8,27.4,-2.9,100,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1993,3887
$GC,990,-0.62,-97.8,33.5,-3.4,115,995,0.00,2.90,0.00,0.000,4,0.000,0.054,2470,573,3888
$GC,1028,-0.62,-97.8,35.0,-3.8,117,1035,0.00,2.85,0.00,0.000,6,0.000,0.030,2471,2002,3888
$GC,1224,-0.62,-97.8,42.1,-3.7,133,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2002,3888
$GC,1415,-0.62,-97.8,48.2,-2.9,148,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2002,3888
$GC,1604,-0.62,-97.8,53.6,-2.7,163,1609,0.00,2.95,0.00,0.000,4,0.000,0.054,2470,574,3888
$GC,1642,-0.62,-97.8,55.0,-3.6,165,1649,0.00,2.83,0.00,0.000,6,0.000,0.031,2470,2006,3888
$GC,1838,-0.62,-97.8,60.8,-3.1,181,1842,0.00,2.47,0.00,0.000,4,0.000,0.051,2470,3420,3888
$GC,1876,-0.62,-97.8,62.2,-3.9,183,1884,0.00,2.45,0.00,0.000,6,0.000,0.035,2471,2000,3888
$GC,2073,-0.62,-97.8,68.6,-3.6,199,2077,0.00,2.90,0.00,0.000,4,0.000,0.054,2471,580,3888
$GC,2105,-0.62,-97.8,69.8,-3.6,201,2113,0.00,2.78,0.00,0.000,6,0.000,0.030,2471,2000,3888
$GC,2308,-0.62,-97.8,76.7,-3.1,217,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2000,3888
$GC,2499,-0.62,-97.8,82.9,-3.4,232,2503,0.00,2.92,0.00,0.000,4,0.000,0.052,2470,579,3888
$GC,2557,-0.62,-97.8,84.9,-3.4,236,2565,0.00,2.80,0.00,0.000,6,0.000,0.030,2471,2001,3888
$GC,2760,-0.62,-97.8,91.4,-3.5,252,2765,0.00,2.47,0.00,0.000,4,0.000,0.051,2470,3418,3888
$GC,2806,-0.62,-97.8,92.9,-3.4,255,2810,0.00,2.42,0.00,0.000,6,0.000,0.035,2471,1995,3888
$GC,3001,-0.62,-97.8,98.7,-3.0,270,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1996,3888
$STATE,3012,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3012,begin apogee
$GC,3018,-0.31,0.0,99.0,2.8,271,3099,0.35,0.00,75.68,0.759,6,0.082,0.000,2540,1543,3483
$STATE,3100,end apogee,CONTROL_FINISHED_OK
$STATE,3100,begin climb
$GC,3102,0.62,97.8,100.2,0.0,278,3187,0.95,2.85,73.65,0.739,4,0.071,0.043,2740,2972,3084
$GC,3232,0.75,216.6,94.4,5.3,288,3329,0.10,2.78,88.93,0.720,6,0.048,0.042,2771,1554,2600
$GC,3525,0.80,268.6,75.7,6.5,312,3573,0.00,2.83,38.53,0.712,4,0.000,0.039,2772,2979,2389
$GC,3599,0.91,365.7,71.1,5.7,318,3679,0.17,2.78,72.78,0.696,6,0.053,0.045,2814,1550,1993
$GC,3867,0.91,365.7,47.0,9.5,339,3872,0.00,2.62,0.00,0.000,4,0.000,0.071,2814,212,1993
$GC,3958,0.91,365.7,37.6,10.0,345,3965,0.00,2.47,0.00,0.000,6,0.000,0.028,2814,1585,1993
$GC,4154,0.91,365.7,19.1,9.4,361,4161,0.00,2.70,0.00,0.000,4,0.000,0.068,2814,209,1993
$GC,4219,0.91,365.7,13.1,9.0,371,4226,0.00,2.35,0.00,0.000,6,0.000,0.028,2814,1532,1993
$GC,4292,0.91,365.7,7.3,8.1,382,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1531,1993
$STATE,4321,end climb,SURFACE_DEPTH_REACHED
$STATE,4321,begin surface coast
$FINISH,1.3,1.020472
$STATE,4402,end surface coast,CONTROL_FINISHED_OK
$STATE,4402,begin surface
$SM_CCo,4483,0.00,0.000,0,0,1990,366.23
$SM_GC,1.02,11.15,0.00,0.00,0.044,0.000,0.000,369,1999,1990,-10.26,-0.06,366.23
$IRIDIUM_FIX,4722.92,-12251.79,270907,111104
$TT8_MAMPS,0.026078
$HUMID,2171
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.1,35.6
$24V_AH,24.0,15.774
$10V_AH,10.2,6.267
$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,24.575,72.525,349.550,0.000,0.000,37.436,31.797,113.827,2.000,0.000,0.000,13.682,736.453,2578.748,453.339,710.124,310.726,33.331,891.129,0.000,692.137,0.000,10.090
$DEVICE_MAMPS,151.099,70.564,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,268.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12666,399
$CFSIZE,260034560,252841984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,102350,4739.276,-12252.503,8,1.7,14,18.3