version: 66.02
glider: 23
mission: 2
dive: 189
start: 9 27 107 20 15 7
data:
$ID,23
$MISSION,2
$DIVE,189
$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,-28479.521
$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,1900
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,38
$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
$GPS1,200837,4739.292,-12253.587,35,1.4,42,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.0
$GPS2,201345,4739.292,-12253.616,11,1.4,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.221,0.166
$KALMAN_X,11739.3,57.9,120.0,-12746.0,-1.0
$KALMAN_Y,7212.3,42.4,98.6,-8251.3,-68.8
$MHEAD_RNG_PITCHd_Wd,34.9,609,-8.8,-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,-0.66,-97.8,0.0,0.0,0,84,0.00,0.00,-61.67,0.000,2,0.000,0.000,369,1919,3346
$GC,87,-0.66,-97.8,2.1,-3.5,10,125,11.73,2.50,-19.10,0.000,4,0.149,0.058,2464,3297,3883
$GC,343,-0.66,-97.8,12.3,-3.6,49,349,0.00,2.53,0.00,0.000,6,0.000,0.035,2464,1878,3886
$GC,415,-0.66,-97.8,14.5,-3.3,60,421,0.00,2.78,0.00,0.000,4,0.000,0.054,2464,491,3886
$GC,501,-0.66,-97.8,17.4,-3.4,73,507,0.00,2.65,0.00,0.000,6,0.000,0.027,2464,1894,3886
$GC,573,-0.66,-97.8,19.6,-2.9,84,579,0.00,2.83,0.00,0.000,4,0.000,0.051,2464,482,3886
$GC,612,-0.66,-97.8,21.0,-3.5,88,616,0.00,2.70,0.00,0.000,6,0.000,0.028,2464,1899,3886
$GC,807,-0.66,-97.8,26.8,-2.9,103,811,0.00,2.55,0.00,0.000,4,0.000,0.047,2464,3308,3887
$GC,872,-0.66,-97.8,29.0,-4.1,107,879,0.00,2.55,0.00,0.000,6,0.000,0.035,2464,1896,3887
$GC,1068,-0.66,-97.8,35.6,-3.1,123,1072,0.00,2.55,0.00,0.000,4,0.000,0.047,2464,3302,3887
$GC,1101,-0.66,-97.8,36.6,-3.4,125,1105,0.00,2.53,0.00,0.000,6,0.000,0.035,2464,1888,3887
$GC,1296,-0.66,-97.8,42.5,-2.9,140,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1889,3888
$GC,1486,-0.66,-97.8,48.2,-3.0,155,1491,0.00,2.58,0.00,0.000,4,0.000,0.048,2464,3302,3888
$GC,1550,-0.66,-97.8,50.6,-3.9,159,1557,0.00,2.55,0.00,0.000,6,0.000,0.037,2464,1894,3888
$GC,1747,-0.66,-97.8,57.5,-3.6,175,1751,0.00,2.58,0.00,0.000,4,0.000,0.048,2464,3305,3888
$GC,1784,-0.66,-97.8,59.1,-4.4,177,1792,0.00,2.55,0.00,0.000,6,0.000,0.037,2464,1898,3888
$GC,1981,-0.66,-97.8,66.3,-3.5,193,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1898,3888
$GC,2172,-0.66,-97.8,72.8,-3.3,208,2176,0.00,2.58,0.00,0.000,4,0.000,0.049,2464,3312,3888
$GC,2244,-0.66,-97.8,75.4,-4.0,213,2248,0.00,2.53,0.00,0.000,6,0.000,0.038,2464,1897,3888
$GC,2439,-0.66,-97.8,81.0,-2.7,228,2443,0.00,2.55,0.00,0.000,4,0.000,0.048,2464,3303,3888
$GC,2491,-0.66,-97.8,82.7,-3.2,232,2496,0.00,2.50,0.00,0.000,6,0.000,0.038,2464,1894,3888
$GC,2693,-0.66,-97.8,88.7,-3.3,248,2698,0.00,2.58,0.00,0.000,4,0.000,0.048,2464,3313,3888
$GC,2731,-0.66,-97.8,90.0,-3.6,250,2739,0.00,2.55,0.00,0.000,6,0.000,0.037,2464,1900,3887
$GC,2928,-0.66,-97.8,95.2,-2.5,266,2932,0.00,2.55,0.00,0.000,4,0.000,0.049,2464,3301,3888
$GC,3001,-0.66,-97.8,97.4,-3.2,271,3005,0.00,2.17,0.00,0.000,3,0.000,0.037,2464,2040,3887
$STATE,3006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3006,begin apogee
$GC,3012,-0.31,0.0,97.8,3.3,271,3091,0.35,0.00,75.55,0.755,6,0.091,0.000,2536,1511,3484
$STATE,3092,end apogee,CONTROL_FINISHED_OK
$STATE,3092,begin climb
$GC,3094,0.66,97.8,98.5,0.0,278,3179,1.00,2.83,73.90,0.730,4,0.073,0.042,2747,2907,3083
$GC,3232,0.77,204.2,91.9,5.4,289,3318,0.15,2.78,79.90,0.718,6,0.051,0.044,2785,1503,2651
$GC,3506,0.77,204.2,71.7,8.2,311,3511,0.00,2.72,0.00,0.000,4,0.000,0.038,2785,2905,2650
$GC,3583,0.77,204.2,65.6,7.9,316,3591,0.00,2.80,0.00,0.000,6,0.000,0.046,2785,1504,2649
$GC,3780,0.78,212.8,50.9,7.2,332,3793,0.00,2.72,6.35,0.745,4,0.000,0.037,2785,2906,2615
$GC,3832,0.78,212.8,47.0,7.5,336,3837,0.00,2.78,0.00,0.000,6,0.000,0.046,2785,1499,2615
$GC,4028,0.79,218.2,32.8,7.3,351,4040,0.00,2.75,3.65,0.763,4,0.000,0.038,2785,2896,2594
$GC,4072,0.83,252.5,29.4,6.7,354,4104,0.00,2.78,25.40,0.697,6,0.000,0.045,2785,1504,2454
$GC,4297,0.84,263.4,13.5,7.2,378,4310,0.00,2.80,8.10,0.716,4,0.000,0.038,2785,2911,2408
$GC,4349,0.88,298.2,9.8,6.7,386,4380,0.00,2.80,25.27,0.684,6,0.000,0.045,2785,1498,2267
$STATE,4433,end climb,SURFACE_DEPTH_REACHED
$STATE,4434,begin surface coast
$FINISH,0.3,1.020051
$STATE,4539,end surface coast,CONTROL_FINISHED_OK
$STATE,4539,begin surface
$SM_CCo,4559,27.45,0.693,1,0,2057,350.04
$SM_GC,1.08,0.00,0.00,27.45,0.000,0.000,0.693,365,1908,2057,-10.34,0.23,350.04
$IRIDIUM_FIX,4719.74,-12254.47,270907,222245
$TT8_MAMPS,0.026845
$HUMID,2147
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.1,8.0
$24V_AH,24.0,16.416
$10V_AH,10.2,6.504
$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,24.175,86.175,298.125,27.450,0.000,33.785,37.311,149.745,1.500,0.000,0.000,12.806,780.348,2611.181,441.822,749.907,359.838,33.334,895.444,0.000,733.861,0.000,5.378
$DEVICE_MAMPS,148.798,58.292,763.165,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,279.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12720,415
$CFSIZE,260034560,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,213233,4739.252,-12253.352,11,1.5,12,18.3