version: 66.02
glider: 23
mission: 2
dive: 186
start: 9 27 107 16 7 12
data:
$ID,23
$MISSION,2
$DIVE,186
$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,-28537.477
$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,23
$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
$GPS1,160051,4739.416,-12252.138,9,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.2
$GPS2,160550,4739.425,-12252.136,11,1.3,28,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.268,-0.069
$KALMAN_X,11641.4,-23.4,-34.1,-10577.1,88.3
$KALMAN_Y,7571.5,17.3,-144.0,-8110.4,188.5
$MHEAD_RNG_PITCHd_Wd,237.3,341,-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,-55.70,0.000,2,0.000,0.000,366,1980,3208
$GC,81,-0.66,-97.8,2.0,-3.7,9,130,11.73,2.60,-27.02,0.000,4,0.148,0.061,2463,3413,3883
$GC,381,-0.66,-97.8,14.0,-3.6,55,387,0.00,2.45,0.00,0.000,6,0.000,0.035,2462,1993,3886
$GC,453,-0.66,-97.8,16.1,-2.7,66,459,0.00,2.90,0.00,0.000,4,0.000,0.054,2463,573,3886
$GC,492,-0.66,-97.8,17.2,-2.9,72,498,0.00,2.80,0.00,0.000,6,0.000,0.028,2462,1997,3886
$GC,564,-0.66,-97.8,19.0,-2.3,83,570,0.00,2.50,0.00,0.000,4,0.000,0.049,2463,3422,3887
$GC,603,-0.66,-97.8,20.1,-2.9,89,607,0.00,2.45,0.00,0.000,6,0.000,0.034,2463,1990,3886
$GC,805,-0.66,-97.8,26.3,-3.0,105,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1989,3887
$GC,995,-0.66,-97.8,33.2,-3.8,120,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1990,3887
$GC,1184,-0.66,-97.8,40.0,-3.7,135,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1990,3887
$GC,1375,-0.66,-97.8,47.2,-3.8,150,1380,0.00,2.53,0.00,0.000,4,0.000,0.049,2463,3418,3887
$GC,1413,-0.66,-97.8,48.8,-3.9,152,1421,0.00,2.47,0.00,0.000,6,0.000,0.036,2462,1995,3887
$GC,1610,-0.66,-97.8,55.2,-3.0,168,1614,0.00,2.90,0.00,0.000,4,0.000,0.056,2463,582,3887
$GC,1647,-0.66,-97.8,56.5,-3.6,170,1655,0.00,2.83,0.00,0.000,6,0.000,0.030,2463,1998,3887
$GC,1844,-0.66,-97.8,63.5,-3.5,186,1848,0.00,2.47,0.00,0.000,4,0.000,0.051,2462,3419,3887
$GC,1903,-0.66,-97.8,65.9,-4.4,190,1907,0.00,2.45,0.00,0.000,6,0.000,0.036,2461,1991,3887
$GC,2099,-0.66,-97.8,72.8,-3.5,205,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1992,3887
$GC,2289,-0.66,-97.8,78.8,-3.1,220,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1992,3887
$GC,2481,-0.66,-97.8,85.1,-3.2,235,2485,0.00,2.90,0.00,0.000,4,0.000,0.055,2462,572,3887
$GC,2539,-0.66,-97.8,87.3,-3.6,239,2544,0.00,2.83,0.00,0.000,6,0.000,0.031,2463,2010,3887
$GC,2735,-0.66,-97.8,93.5,-3.0,254,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2009,3887
$GC,2927,-0.66,-97.8,98.8,-2.8,269,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2009,3887
$STATE,2972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2972,begin apogee
$GC,2978,-0.31,0.0,100.1,2.7,273,3059,0.38,0.00,75.53,0.762,6,0.087,0.000,2537,1539,3484
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3060,begin climb
$GC,3062,0.66,97.8,100.6,0.0,280,3145,1.02,2.83,74.15,0.738,4,0.070,0.042,2750,2981,3084
$GC,3189,0.77,199.9,94.5,5.4,290,3272,0.10,2.80,76.22,0.724,6,0.046,0.042,2781,1555,2668
$GC,3459,0.77,199.9,74.4,8.1,312,3463,0.00,2.72,0.00,0.000,4,0.000,0.041,2781,2975,2667
$GC,3483,0.77,199.9,72.4,8.1,313,3490,0.00,2.80,0.00,0.000,6,0.000,0.046,2782,1555,2666
$GC,3680,0.80,226.2,58.1,6.9,329,3705,0.00,2.75,19.33,0.721,4,0.000,0.040,2782,2969,2560
$GC,3731,0.83,254.4,54.3,6.9,333,3759,0.00,2.78,20.95,0.714,6,0.000,0.045,2781,1549,2446
$GC,3957,0.86,281.0,38.7,6.9,351,3981,0.00,0.00,19.67,0.709,6,0.000,0.000,2782,1549,2337
$GC,4170,0.90,323.5,24.8,6.6,368,4207,0.12,0.00,31.58,0.690,6,0.063,0.000,2809,1549,2164
$GC,4404,0.90,323.5,6.4,7.5,399,4410,0.00,2.62,0.00,0.000,4,0.000,0.069,2809,203,2164
$STATE,4421,end climb,SURFACE_DEPTH_REACHED
$STATE,4421,begin surface coast
$FINISH,0.4,1.020113
$STATE,4502,end surface coast,CONTROL_FINISHED_OK
$STATE,4502,begin surface
$SM_CCo,4525,15.85,0.717,1,0,2055,350.04
$SM_GC,0.97,0.00,0.00,15.85,0.000,0.000,0.717,365,2000,2055,-10.33,0.00,350.04
$IRIDIUM_FIX,4722.92,-12253.53,270907,181839
$TT8_MAMPS,0.026845
$HUMID,2153
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.1,36.7
$24V_AH,24.0,16.178
$10V_AH,10.2,6.416
$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,24.425,60.850,317.425,15.850,0.000,40.308,38.394,118.747,1.500,0.000,0.000,31.110,763.131,2645.993,444.694,704.952,329.041,33.335,856.959,0.000,678.111,0.000,5.550
$DEVICE_MAMPS,148.031,69.030,761.631,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,279.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12729,414
$CFSIZE,260034560,252657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,172408,4739.424,-12252.220,27,1.6,28,18.3