version: 66.02
glider: 23
mission: 2
dive: 187
start: 9 27 107 17 30 7
data:
$ID,23
$MISSION,2
$DIVE,187
$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,-28517.414
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,172408,4739.424,-12252.220,27,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-73.1
$GPS2,172845,4739.410,-12252.534,9,1.5,9,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.282,-0.051
$KALMAN_X,11770.2,2.3,15.5,-11274.5,149.5
$KALMAN_Y,7610.2,47.2,-45.3,-8300.8,214.3
$MHEAD_RNG_PITCHd_Wd,241.5,840,-8.2,-7.407
$D_GRID,124
$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,21,-0.62,-97.8,0.0,0.0,0,102,0.00,0.00,-79.43,0.000,2,0.000,0.000,365,2000,3719
$GC,105,-0.62,-97.8,2.2,-1.0,13,130,11.80,3.00,-4.50,0.000,4,0.150,0.063,2469,581,3885
$GC,381,-0.62,-97.8,16.1,-2.6,55,388,0.00,2.80,0.00,0.000,6,0.000,0.029,2469,2003,3888
$GC,453,-0.62,-97.8,17.9,-2.7,66,459,0.00,2.95,0.00,0.000,4,0.000,0.051,2470,572,3888
$GC,571,-0.62,-97.8,22.5,-3.6,80,576,0.00,2.83,0.00,0.000,6,0.000,0.029,2469,2006,3889
$GC,767,-0.62,-97.8,28.2,-3.1,95,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2006,3889
$GC,957,-0.62,-97.8,34.4,-3.4,110,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2006,3889
$GC,1146,-0.62,-97.8,40.9,-3.3,125,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2006,3889
$GC,1336,-0.62,-97.8,47.0,-3.0,140,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2006,3889
$GC,1527,-0.62,-97.8,53.2,-3.5,155,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2005,3889
$GC,1714,-0.62,-97.8,59.0,-3.1,170,1719,0.00,2.95,0.00,0.000,4,0.000,0.052,2470,577,3889
$GC,1747,-0.62,-97.8,60.1,-3.4,172,1752,0.00,2.80,0.00,0.000,6,0.000,0.030,2469,1998,3889
$GC,1942,-0.62,-97.8,65.8,-2.6,187,1946,0.00,2.50,0.00,0.000,4,0.000,0.052,2469,3421,3889
$GC,1974,-0.62,-97.8,66.8,-3.4,189,1979,0.00,2.42,0.00,0.000,6,0.000,0.035,2469,1997,3888
$GC,2170,-0.62,-97.8,72.5,-2.9,204,2174,0.00,2.90,0.00,0.000,4,0.000,0.054,2469,578,3889
$GC,2208,-0.62,-97.8,73.7,-3.5,206,2215,0.00,2.83,0.00,0.000,6,0.000,0.030,2469,1997,3888
$GC,2404,-0.62,-97.8,79.6,-3.1,222,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1996,3888
$GC,2593,-0.62,-97.8,86.1,-3.3,237,2598,0.00,2.92,0.00,0.000,4,0.000,0.052,2469,579,3888
$GC,2645,-0.62,-97.8,87.9,-3.6,240,2652,0.00,2.83,0.00,0.000,6,0.000,0.031,2469,2003,3888
$GC,2841,-0.62,-97.8,93.5,-2.6,256,2846,0.00,2.47,0.00,0.000,4,0.000,0.052,2469,3423,3888
$GC,2892,-0.62,-97.8,95.1,-3.1,259,2900,0.00,2.45,0.00,0.000,6,0.000,0.035,2469,1999,3889
$STATE,3011,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3011,begin apogee
$GC,3017,-0.31,0.0,98.3,2.7,269,3098,0.35,0.00,75.82,0.758,6,0.087,0.000,2539,1535,3483
$STATE,3099,end apogee,CONTROL_FINISHED_OK
$STATE,3099,begin climb
$GC,3101,0.62,97.8,98.8,0.0,276,3183,0.98,2.83,74.00,0.736,4,0.070,0.043,2742,2981,3083
$GC,3241,0.77,236.1,92.2,5.0,287,3353,0.12,2.80,103.88,0.717,6,0.045,0.042,2779,1549,2521
$GC,3542,0.78,244.8,71.9,7.3,311,3553,0.00,0.00,5.95,0.750,6,0.000,0.000,2779,1549,2486
$GC,3742,0.78,247.7,57.1,7.4,327,3749,0.00,2.78,2.17,0.797,4,0.000,0.039,2781,2966,2473
$GC,3775,0.78,247.7,54.6,7.6,329,3780,0.00,2.78,0.00,0.000,6,0.000,0.046,2779,1543,2473
$GC,3970,0.79,254.1,40.2,7.3,344,3983,0.00,2.65,4.53,0.758,4,0.000,0.067,2779,214,2447
$GC,3996,0.79,254.1,38.2,7.7,346,4000,0.00,2.45,0.00,0.000,6,0.000,0.028,2779,1575,2447
$GC,4198,0.81,271.6,23.6,7.1,362,4213,0.00,0.00,13.25,0.713,6,0.000,0.000,2779,1578,2376
$GC,4406,0.87,327.4,9.9,6.4,389,4455,0.00,2.67,41.17,0.680,4,0.000,0.041,2779,2944,2148
$GC,4482,0.96,411.2,5.5,5.9,401,4496,0.17,2.72,8.12,0.709,2,0.064,0.043,2818,1541,2103
$STATE,4497,end climb,SURFACE_DEPTH_REACHED
$STATE,4497,begin surface coast
$FINISH,2.2,1.020926
$STATE,4535,end surface coast,CONTROL_FINISHED_OK
$STATE,4536,begin surface
$SM_CCo,4557,7.35,0.730,0,0,2056,350.04
$SM_GC,1.02,0.00,0.00,7.35,0.000,0.000,0.730,368,1987,2056,-10.31,-0.37,350.04
$IRIDIUM_FIX,4726.11,-12253.53,270907,202028
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,85.2,36.3
$24V_AH,24.0,16.257
$10V_AH,10.2,6.445
$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,24.650,62.250,328.900,7.350,0.000,37.507,41.721,114.688,1.750,0.000,0.000,12.500,755.080,2679.819,428.609,693.702,327.455,33.341,848.986,0.000,683.596,0.000,5.545
$DEVICE_MAMPS,149.565,67.496,796.913,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,275.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12707,409
$CFSIZE,260034560,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,184708,4739.325,-12252.968,7,1.2,13,18.3