version: 66.02
glider: 23
mission: 2
dive: 184
start: 9 27 107 13 18 42
data:
$ID,23
$MISSION,2
$DIVE,184
$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,-28529.627
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,131232,4739.804,-12252.877,8,1.5,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.0
$GPS2,131720,4739.788,-12252.866,12,1.0,17,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.188
$KALMAN_X,11408.5,-84.9,-59.3,-11162.5,-26.7
$KALMAN_Y,7206.3,-88.1,-152.4,-6957.8,-62.4
$MHEAD_RNG_PITCHd_Wd,112.6,831,-8.2,-7.407
$D_GRID,120
$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,-97.8,0.0,0.0,0,102,0.00,0.00,-79.70,0.000,2,0.000,0.000,367,1993,3733
$GC,105,-0.62,-97.8,2.3,-1.2,13,130,11.80,2.95,-3.90,0.000,4,0.150,0.062,2472,588,3885
$GC,381,-0.62,-97.8,15.4,-3.3,55,388,0.00,2.78,0.00,0.000,6,0.000,0.029,2472,1994,3888
$GC,453,-0.62,-97.8,17.6,-3.1,66,460,0.00,2.90,0.00,0.000,4,0.000,0.049,2472,583,3888
$GC,499,-0.62,-97.8,19.0,-3.6,73,505,0.00,2.80,0.00,0.000,6,0.000,0.030,2470,2001,3888
$GC,570,-0.62,-97.8,20.8,-2.6,82,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2001,3888
$GC,760,-0.62,-97.8,26.4,-3.5,97,764,0.00,2.47,0.00,0.000,4,0.000,0.050,2472,3424,3888
$GC,806,-0.62,-97.8,28.1,-4.0,100,810,0.00,2.42,0.00,0.000,6,0.000,0.035,2472,1995,3889
$GC,1008,-0.62,-97.8,34.6,-3.0,116,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1996,3889
$GC,1198,-0.62,-97.8,40.6,-3.3,131,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1996,3889
$GC,1388,-0.62,-97.8,46.2,-3.1,146,1392,0.00,2.90,0.00,0.000,4,0.000,0.054,2472,582,3889
$GC,1425,-0.62,-97.8,47.7,-3.6,148,1433,0.00,2.83,0.00,0.000,6,0.000,0.030,2472,1999,3889
$GC,1622,-0.62,-97.8,53.9,-3.1,164,1626,0.00,2.47,0.00,0.000,4,0.000,0.051,2472,3419,3889
$GC,1654,-0.62,-97.8,55.0,-3.6,166,1658,0.00,2.40,0.00,0.000,6,0.000,0.035,2472,1999,3889
$GC,1857,-0.62,-97.8,61.3,-3.3,182,1861,0.00,2.92,0.00,0.000,4,0.000,0.054,2471,575,3889
$GC,1894,-0.62,-97.8,62.7,-4.0,184,1902,0.00,2.85,0.00,0.000,6,0.000,0.030,2472,2004,3889
$GC,2091,-0.62,-97.8,68.9,-3.3,200,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2004,3889
$GC,2281,-0.62,-97.8,75.0,-3.0,215,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2002,3889
$GC,2471,-0.62,-97.8,81.2,-3.3,230,2475,0.00,2.92,0.00,0.000,4,0.000,0.053,2472,583,3889
$GC,2503,-0.62,-97.8,82.5,-4.0,232,2507,0.00,2.80,0.00,0.000,6,0.000,0.030,2472,2001,3889
$GC,2699,-0.62,-97.8,88.7,-2.8,247,2703,0.00,2.47,0.00,0.000,4,0.000,0.051,2472,3424,3889
$GC,2763,-0.62,-97.8,90.7,-3.3,251,2770,0.00,2.45,0.00,0.000,6,0.000,0.035,2472,1997,3889
$GC,2960,-0.62,-97.8,96.4,-2.9,267,2964,0.00,2.90,0.00,0.000,4,0.000,0.054,2472,584,3888
$GC,2997,-0.62,-97.8,97.5,-3.1,269,3005,0.00,2.83,0.00,0.000,6,0.000,0.030,2472,2004,3888
$STATE,3015,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3015,begin apogee
$GC,3021,-0.31,0.0,98.0,3.1,271,3102,0.35,0.00,75.62,0.766,6,0.087,0.000,2542,1546,3483
$STATE,3103,end apogee,CONTROL_FINISHED_OK
$STATE,3103,begin climb
$GC,3105,0.62,97.8,98.6,0.0,278,3190,0.93,2.85,73.50,0.736,4,0.071,0.042,2738,2971,3084
$GC,3222,0.75,214.7,93.2,5.3,287,3315,0.12,2.78,87.68,0.723,6,0.047,0.040,2774,1557,2608
$GC,3503,0.77,240.3,74.4,7.0,310,3528,0.00,2.75,18.70,0.732,4,0.000,0.039,2774,2967,2502
$GC,3573,0.80,261.2,69.4,7.0,315,3594,0.00,2.80,15.35,0.718,6,0.000,0.045,2774,1548,2418
$GC,3781,0.84,305.2,55.3,6.6,332,3818,0.00,0.00,32.90,0.707,6,0.000,0.000,2774,1548,2238
$GC,4007,0.88,340.4,40.5,6.8,350,4035,0.12,0.00,25.85,0.703,6,0.060,0.000,2805,1548,2096
$GC,4220,0.88,340.4,22.4,8.1,367,4224,0.00,2.62,0.00,0.000,4,0.000,0.070,2804,206,2096
$GC,4265,0.88,340.4,18.7,8.1,371,4272,0.00,2.45,0.00,0.000,6,0.000,0.027,2805,1578,2096
$GC,4338,0.88,340.4,13.1,7.6,382,4344,0.00,2.58,0.00,0.000,4,0.000,0.038,2805,2933,2096
$GC,4363,0.88,340.4,11.1,7.6,386,4370,0.00,2.70,0.00,0.000,6,0.000,0.047,2805,1546,2095
$GC,4436,0.91,368.8,5.9,6.9,397,4455,0.00,0.00,17.02,0.700,2,0.000,0.000,2805,1546,2001
$STATE,4456,end climb,SURFACE_DEPTH_REACHED
$STATE,4456,begin surface coast
$FINISH,0.7,1.020093
$STATE,4547,end surface coast,CONTROL_FINISHED_OK
$STATE,4547,begin surface
$SM_CCo,4628,0.00,0.000,0,0,1998,364.27
$SM_GC,1.06,11.00,0.00,0.00,0.037,0.000,0.000,366,1986,1998,-10.26,-0.40,364.27
$IRIDIUM_FIX,4722.92,-12251.79,270907,151535
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,85.3,30.4
$24V_AH,24.0,16.020
$10V_AH,10.2,6.357
$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,24.325,72.500,346.625,0.000,0.000,40.689,34.788,118.602,1.750,0.000,0.000,24.111,762.514,2693.713,450.224,722.944,327.396,33.339,887.062,0.000,698.674,0.000,5.541
$DEVICE_MAMPS,150.332,69.797,766.233,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,278.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12713,414
$CFSIZE,260034560,252727296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,143659,4739.645,-12252.391,8,3.1,28,18.3