version: 66.02
glider: 23
mission: 2
dive: 43
start: 9 22 107 2 17 19
data:
$ID,23
$MISSION,2
$DIVE,43
$D_SURF,2
$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,40
$T_MISSION,60
$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,30
$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,-28918.555
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,27
$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,10
$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
$GPS1,021207,4739.755,-12252.414,37,1.2,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.3
$GPS2,021615,4739.757,-12252.422,14,1.4,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W1
$TGT_LATLONG,4740.869,-12251.195
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,0.146
$KALMAN_X,3927.2,17.2,213.6,-3502.3,-4.5
$KALMAN_Y,1876.0,189.6,-3.8,-2106.0,18.6
$MHEAD_RNG_PITCHd_Wd,20.2,2565,-19.8,-8.333
$D_GRID,123
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-61.35,0.000,2,0.000,0.000,364,2156,3286
$GC,84,-1.34,-97.8,2.0,-3.8,10,128,10.90,2.92,-23.05,0.000,4,0.146,0.059,2315,731,3884
$GC,140,-1.34,-97.8,4.0,-5.9,19,147,0.00,2.80,0.00,0.000,6,0.000,0.031,2315,2161,3884
$GC,211,-1.34,-97.8,11.4,-9.9,30,218,0.00,2.45,0.00,0.000,4,0.000,0.049,2315,3551,3886
$GC,467,-1.34,-97.8,31.7,-7.9,58,476,0.00,2.42,0.00,0.000,6,0.000,0.034,2315,2148,3887
$GC,664,-1.34,-97.8,47.4,-8.2,74,668,0.00,2.47,0.00,0.000,4,0.000,0.049,2315,3562,3889
$GC,921,-1.34,-97.8,68.9,-7.9,93,929,0.00,2.42,0.00,0.000,6,0.000,0.035,2315,2150,3889
$GC,1117,-1.34,-97.8,83.7,-7.9,109,1121,0.00,2.47,0.00,0.000,4,0.000,0.051,2315,3568,3889
$GC,1288,-1.34,-97.8,98.0,-7.8,122,1293,0.00,2.42,0.00,0.000,6,0.000,0.037,2315,2153,3889
$STATE,1325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1325,begin apogee
$GC,1329,-0.31,0.0,100.9,7.9,125,1412,1.12,0.00,76.45,0.733,6,0.093,0.000,2540,2023,3483
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1414,1.34,97.8,102.0,0.0,132,1492,1.67,0.00,73.85,0.725,6,0.065,0.000,2897,2023,3085
$GC,1674,1.34,97.8,76.6,11.3,153,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2023,3084
$GC,1864,1.34,97.8,53.7,12.0,168,1868,0.00,2.50,0.00,0.000,4,0.000,0.044,2897,3457,3084
$GC,1921,1.34,97.8,46.5,11.8,172,1929,0.00,2.47,0.00,0.000,6,0.000,0.039,2897,2062,3083
$GC,2118,1.34,97.8,24.0,11.8,188,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2062,3083
$GC,2315,1.40,154.9,4.8,5.1,215,2359,0.00,2.55,39.60,0.666,4,0.000,0.046,2897,3456,2851
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2370,begin surface coast
$FINISH,0.3,1.001835
$STATE,2404,end surface coast,CONTROL_FINISHED_OK
$STATE,2404,begin surface
$SM_CCo,2424,90.68,0.638,0,0,2057,350.04
$SM_GC,1.00,0.00,0.00,90.68,0.000,0.000,0.638,365,2142,2057,-10.33,-0.23,350.04
$IRIDIUM_FIX,4719.74,-12251.79,220907,050545
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.5,8.0
$ALTIM_BOTTOM_PING,90.0,32.6
$24V_AH,23.9,6.296
$10V_AH,10.2,3.236
$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,25.200,30.425,189.900,90.675,0.000,37.553,36.587,106.985,2.250,0.000,0.000,16.186,427.682,1310.805,382.699,435.934,236.618,33.351,639.858,0.000,423.433,0.000,11.677
$DEVICE_MAMPS,146.497,59.059,733.252,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,229
$CFSIZE,260034560,256536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,030003,4739.909,-12252.136,8,1.6,8,18.3