version: 66.02
glider: 23
mission: 2
dive: 47
start: 9 22 107 5 44 31
data:
$ID,23
$MISSION,2
$DIVE,47
$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,-28896.494
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,053945,4740.442,-12251.651,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.0
$GPS2,054327,4740.455,-12251.664,11,1.1,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W1
$TGT_LATLONG,4740.869,-12251.195
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,0.136
$KALMAN_X,4021.9,26.6,8.2,-2454.7,-70.6
$KALMAN_Y,1810.9,149.3,-52.6,-661.4,-15.0
$MHEAD_RNG_PITCHd_Wd,25.1,965,-19.8,-8.333
$D_GRID,99
$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,-97.8,0.0,0.0,0,83,0.00,0.00,-62.22,0.000,2,0.000,0.000,364,2173,3321
$GC,85,-1.34,-97.8,2.2,-3.9,10,122,10.93,0.00,-18.90,0.000,6,0.148,0.000,2314,2173,3883
$GC,187,-1.34,-97.8,12.2,-9.8,26,194,0.00,2.40,0.00,0.000,4,0.000,0.048,2313,3539,3885
$GC,437,-1.34,-97.8,33.5,-8.6,53,442,0.00,2.38,0.00,0.000,6,0.000,0.035,2313,2158,3886
$GC,639,-1.34,-97.8,49.5,-7.7,69,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2158,3887
$GC,829,-1.34,-97.8,64.1,-7.8,84,833,0.00,2.42,0.00,0.000,4,0.000,0.049,2313,3547,3887
$GC,1007,-1.34,-97.8,79.7,-8.4,97,1012,0.00,2.40,0.00,0.000,6,0.000,0.035,2313,2149,3887
$GC,1209,-1.34,-97.8,94.3,-5.6,113,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2149,3887
$STATE,1372,end dive,NO_VERTICAL_VELOCITY
$STATE,1372,begin apogee
$GC,1377,-0.31,0.0,94.3,0.0,126,1459,1.10,0.00,76.07,0.730,6,0.076,0.000,2541,2026,3484
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1461,1.34,97.8,94.1,0.0,133,1547,1.67,2.55,73.97,0.713,4,0.068,0.044,2896,3438,3084
$GC,1656,1.34,97.8,74.8,12.1,148,1665,0.00,2.45,0.00,0.000,6,0.000,0.038,2896,2061,3084
$GC,1853,1.34,97.8,52.5,11.4,164,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2061,3084
$GC,2043,1.34,97.8,30.8,11.3,179,2047,0.00,2.92,0.00,0.000,4,0.000,0.060,2896,641,3084
$GC,2094,1.34,97.8,24.2,13.0,182,2102,0.00,2.72,0.00,0.000,6,0.000,0.028,2896,2020,3084
$GC,2298,1.37,125.6,3.7,6.7,210,2324,0.00,2.62,20.33,0.678,4,0.000,0.046,2896,3472,2971
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,0.3,1.021108
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2415,106.28,0.641,0,0,2057,350.04
$SM_GC,1.08,0.00,0.00,106.28,0.000,0.000,0.641,364,2138,2057,-10.33,-0.31,350.04
$IRIDIUM_FIX,4726.11,-12253.53,220907,080832
$TT8_MAMPS,0.026845
$HUMID,2157
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,8.4
$ALTIM_BOTTOM_PING,70.1,28.5
$24V_AH,23.9,6.573
$10V_AH,10.2,3.321
$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,25.175,25.375,170.375,106.275,0.000,39.944,39.984,77.867,1.250,0.000,0.000,13.138,423.937,1346.373,369.434,420.177,214.482,33.348,621.184,0.000,412.546,0.000,8.565
$DEVICE_MAMPS,148.031,59.826,730.184,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,225
$CFSIZE,260034560,256438272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,062721,4740.625,-12251.470,8,1.3,8,18.3