version: 66.02
glider: 23
mission: 2
dive: 48
start: 9 22 107 6 32 1
data:
$ID,23
$MISSION,2
$DIVE,48
$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,-28894.412
$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,17
$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
$GPS1,062721,4740.625,-12251.470,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.9
$GPS2,063057,4740.639,-12251.469,14,1.3,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W1
$TGT_LATLONG,4740.869,-12251.195
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,0.134
$KALMAN_X,4034.2,24.4,-63.8,-2149.6,-58.5
$KALMAN_Y,1846.1,126.1,-48.4,-336.5,-5.2
$MHEAD_RNG_PITCHd_Wd,25.9,546,-19.8,-8.333
$D_GRID,98
$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,-62.25,0.000,2,0.000,0.000,365,2137,3325
$GC,85,-1.34,-97.8,2.1,-3.9,10,123,10.90,2.53,-18.35,0.000,4,0.147,0.061,2314,3581,3883
$GC,373,-1.34,-97.8,27.5,-8.0,47,377,0.00,2.45,0.00,0.000,6,0.000,0.033,2314,2150,3885
$GC,575,-1.34,-97.8,42.9,-7.7,63,579,0.00,2.50,0.00,0.000,4,0.000,0.048,2314,3571,3886
$GC,659,-1.34,-97.8,49.6,-8.0,69,668,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2151,3886
$GC,856,-1.34,-97.8,64.8,-7.7,85,860,0.00,2.47,0.00,0.000,4,0.000,0.048,2314,3573,3886
$GC,1112,-1.34,-97.8,87.0,-8.3,104,1120,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2152,3886
$GC,1309,-1.34,-97.8,93.5,-0.0,120,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2152,3888
$STATE,1372,end dive,NO_VERTICAL_VELOCITY
$STATE,1372,begin apogee
$GC,1376,-0.31,0.0,93.4,0.0,125,1457,1.10,0.00,76.12,0.725,6,0.076,0.000,2542,2019,3484
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1460,1.34,97.8,93.2,0.0,132,1542,1.70,0.00,74.22,0.709,6,0.063,0.000,2901,2018,3084
$GC,1730,1.34,97.8,65.2,11.7,154,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2019,3083
$GC,1919,1.34,97.8,42.7,12.2,169,1924,0.00,2.83,0.00,0.000,4,0.000,0.060,2901,658,3083
$GC,1943,1.34,97.8,39.3,13.1,170,1952,0.00,2.78,0.00,0.000,6,0.000,0.028,2901,2061,3083
$GC,2141,1.34,97.8,15.6,11.9,188,2148,0.00,2.45,0.00,0.000,4,0.000,0.046,2901,3453,3083
$GC,2240,1.34,97.8,4.6,9.9,203,2247,0.00,2.40,0.00,0.000,6,0.000,0.035,2901,2067,3083
$GC,2312,1.46,211.2,2.4,1.9,214,2332,0.12,0.00,17.62,0.673,2,0.051,0.000,2933,2067,2955
$STATE,2333,end climb,SURFACE_DEPTH_REACHED
$STATE,2333,begin surface coast
$FINISH,0.3,1.003345
$STATE,2437,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2456,103.15,0.639,0,0,2057,350.04
$SM_GC,1.04,0.00,0.00,103.15,0.000,0.000,0.639,365,2176,2057,-10.33,0.74,350.04
$IRIDIUM_FIX,4726.11,-12249.11,220907,090904
$TT8_MAMPS,0.026845
$HUMID,2156
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.3,8.4
$ALTIM_BOTTOM_PING,70.0,28.5
$24V_AH,23.9,6.633
$10V_AH,10.2,3.340
$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,25.425,25.625,167.975,103.150,0.000,37.576,35.420,75.889,2.250,0.000,0.000,16.362,438.611,1363.431,370.407,426.762,207.129,33.358,623.558,0.000,415.383,0.000,8.577
$DEVICE_MAMPS,147.264,60.593,724.815,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,233
$CFSIZE,260034560,256413696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,071550,4740.785,-12251.214,29,2.0,29,18.3