version: 66.02
glider: 23
mission: 2
dive: 56
start: 9 22 107 13 25 8
data:
$ID,23
$MISSION,2
$DIVE,56
$D_SURF,2
$D_FLARE,2
$D_TGT,85
$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,-28899.002
$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,24
$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
$GPS1,132002,4740.724,-12250.176,12,1.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.9
$GPS2,132402,4740.729,-12250.148,8,1.8,13,18.3
$SPEED_LIMITS,0.123,0.178
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.137
$KALMAN_X,5554.4,156.8,183.1,-2403.8,274.0
$KALMAN_Y,5296.7,935.1,1048.4,-5512.0,-440.2
$MHEAD_RNG_PITCHd_Wd,302.0,10239,-16.7,-7.083
$D_GRID,89
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.15,-97.8,0.0,0.0,0,76,0.00,0.00,-56.40,0.000,2,0.000,0.000,366,2161,3202
$GC,78,-1.15,-97.8,2.1,-2.8,9,122,11.10,2.97,-27.08,0.000,4,0.146,0.058,2356,737,3884
$GC,233,-1.15,-97.8,13.5,-8.7,33,241,0.00,2.80,0.00,0.000,6,0.000,0.031,2357,2159,3886
$GC,306,-1.15,-97.8,18.3,-6.4,44,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2159,3886
$GC,376,-1.15,-97.8,22.9,-6.4,52,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2159,3886
$GC,567,-1.15,-97.8,34.3,-5.9,67,571,0.00,2.42,0.00,0.000,4,0.000,0.050,2357,3563,3886
$GC,599,-1.15,-97.8,36.5,-6.5,69,603,0.00,2.40,0.00,0.000,6,0.000,0.034,2357,2143,3887
$GC,801,-1.15,-97.8,48.5,-6.2,85,805,0.00,2.88,0.00,0.000,4,0.000,0.052,2357,728,3887
$GC,820,-1.15,-97.8,49.6,-5.8,86,824,0.00,2.80,0.00,0.000,6,0.000,0.031,2357,2158,3887
$GC,1022,-1.15,-97.8,62.0,-5.9,102,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2159,3888
$GC,1211,-1.15,-97.8,73.8,-6.0,117,1215,0.00,2.45,0.00,0.000,4,0.000,0.051,2357,3577,3888
$GC,1282,-1.15,-97.8,78.6,-7.2,122,1290,0.00,2.42,0.00,0.000,6,0.000,0.035,2357,2149,3888
$GC,1479,-1.15,-97.8,84.2,-0.2,138,1483,0.00,2.88,0.00,0.000,4,0.000,0.051,2356,727,3888
$GC,1531,-1.15,-97.8,84.3,-0.2,142,1535,0.00,2.80,0.00,0.000,6,0.000,0.031,2357,2162,3888
$STATE,1555,end dive,NO_VERTICAL_VELOCITY
$STATE,1555,begin apogee
$GC,1559,-0.31,0.0,84.2,0.0,144,1642,0.88,0.00,76.38,0.728,6,0.067,0.000,2542,2017,3482
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1644,1.15,97.8,84.1,0.0,151,1730,1.48,2.90,73.82,0.709,4,0.064,0.056,2858,666,3085
$GC,1972,1.15,97.8,52.9,10.1,176,1981,0.00,2.78,0.00,0.000,6,0.000,0.029,2857,2057,3085
$GC,2170,1.15,97.8,34.1,9.6,192,2174,0.00,2.92,0.00,0.000,4,0.000,0.057,2858,649,3084
$GC,2220,1.15,97.8,28.7,9.9,195,2228,0.00,2.78,0.00,0.000,6,0.000,0.030,2858,2045,3084
$GC,2422,1.15,97.8,10.6,8.7,219,2429,0.00,2.88,0.00,0.000,4,0.000,0.056,2858,658,3084
$GC,2454,1.15,97.8,7.7,8.6,224,2461,0.00,2.78,0.00,0.000,6,0.000,0.031,2857,2051,3084
$GC,2526,1.18,126.2,3.3,5.7,235,2551,0.00,0.00,18.62,0.682,6,0.000,0.000,2858,2050,2968
$STATE,2568,end climb,SURFACE_DEPTH_REACHED
$STATE,2568,begin surface coast
$FINISH,0.3,1.010378
$STATE,2642,end surface coast,CONTROL_FINISHED_OK
$STATE,2642,begin surface
$SM_CCo,2661,106.07,0.649,0,0,2056,350.04
$SM_GC,0.96,0.00,0.00,106.07,0.000,0.000,0.649,366,2171,2056,-10.32,0.59,350.04
$IRIDIUM_FIX,4722.92,-12247.38,220907,161625
$TT8_MAMPS,0.026845
$HUMID,2118
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.2
$ALTIM_BOTTOM_PING,70.7,8.5
$24V_AH,23.9,7.145
$10V_AH,10.2,3.507
$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,24.750,44.250,168.825,106.075,0.000,38.142,35.577,92.982,1.250,0.000,0.000,19.334,483.024,1462.788,391.860,470.168,230.755,33.354,676.370,0.000,454.092,0.000,8.421
$DEVICE_MAMPS,145.730,58.292,727.883,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,253
$CFSIZE,260034560,256204800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,141229,4740.921,-12250.208,13,4.1,32,18.3