version: 66.02
glider: 23
mission: 2
dive: 57
start: 9 22 107 14 17 32
data:
$ID,23
$MISSION,2
$DIVE,57
$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,30
$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,-28911.824
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,141229,4740.921,-12250.208,13,4.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.2
$GPS2,141629,4740.936,-12250.197,11,5.3,30,18.3
$SPEED_LIMITS,0.164,0.193
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,0.206
$KALMAN_X,5622.7,210.0,281.6,-2682.3,134.4
$KALMAN_Y,5677.1,820.0,768.2,-5137.1,-15.7
$MHEAD_RNG_PITCHd_Wd,321.5,9855,-19.1,-9.444
$D_GRID,88
$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,-1.30,-97.8,0.0,0.0,0,82,0.00,0.00,-61.60,0.000,2,0.000,0.000,367,2171,3323
$GC,84,-1.30,-97.8,2.2,-4.5,10,122,10.93,2.92,-18.88,0.000,4,0.146,0.058,2324,750,3885
$GC,325,-1.30,-97.8,22.2,-7.7,45,333,0.00,2.78,0.00,0.000,6,0.000,0.030,2324,2143,3887
$GC,522,-1.30,-97.8,36.2,-7.5,61,526,0.00,2.47,0.00,0.000,4,0.000,0.050,2324,3566,3887
$GC,574,-1.30,-97.8,40.3,-7.5,65,578,0.00,2.38,0.00,0.000,6,0.000,0.035,2323,2166,3887
$GC,776,-1.30,-97.8,55.0,-7.1,81,780,0.00,2.42,0.00,0.000,4,0.000,0.050,2324,3571,3888
$GC,801,-1.30,-97.8,56.9,-7.4,83,806,0.00,2.42,0.00,0.000,6,0.000,0.035,2324,2151,3888
$GC,1003,-1.30,-97.8,70.9,-6.6,99,1008,0.00,2.47,0.00,0.000,4,0.000,0.051,2323,3564,3889
$GC,1074,-1.30,-97.8,76.4,-7.7,104,1083,0.00,2.42,0.00,0.000,6,0.000,0.035,2324,2142,3888
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1211,-0.31,0.0,85.5,6.7,115,1293,1.05,0.00,76.47,0.725,6,0.085,0.000,2537,2019,3484
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1296,1.30,97.8,85.1,0.0,122,1381,1.65,2.92,73.68,0.710,4,0.064,0.058,2889,657,3085
$GC,1478,1.30,97.8,68.1,12.4,136,1486,0.00,2.78,0.00,0.000,6,0.000,0.030,2889,2050,3084
$GC,1675,1.30,97.8,44.9,11.2,152,1679,0.00,2.90,0.00,0.000,4,0.000,0.058,2888,656,3084
$GC,1700,1.30,97.8,41.8,12.0,154,1705,0.00,2.78,0.00,0.000,6,0.000,0.031,2889,2046,3084
$GC,1903,1.30,97.8,18.8,11.0,170,1910,0.00,2.47,0.00,0.000,4,0.000,0.047,2889,3455,3083
$GC,1948,1.30,97.8,13.7,11.3,177,1955,0.00,2.42,0.00,0.000,6,0.000,0.038,2889,2065,3083
$GC,2022,1.30,97.8,6.5,9.9,188,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2065,3083
$GC,2093,1.42,211.9,2.0,3.8,199,2101,0.15,0.00,5.65,0.723,2,0.050,0.000,2926,2065,3053
$STATE,2102,end climb,SURFACE_DEPTH_REACHED
$STATE,2102,begin surface coast
$FINISH,0.4,1.010517
$STATE,2160,end surface coast,CONTROL_FINISHED_OK
$STATE,2161,begin surface
$SM_CCo,2179,117.80,0.644,0,0,2056,350.04
$SM_GC,0.90,0.00,0.00,117.80,0.000,0.000,0.644,368,2171,2056,-10.32,0.59,350.04
$IRIDIUM_FIX,4722.92,-12249.11,220907,171720
$TT8_MAMPS,0.026845
$HUMID,2122
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,8.4
$ALTIM_BOTTOM_PING,70.1,8.4
$24V_AH,23.9,7.206
$10V_AH,10.2,3.526
$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,25.375,36.925,155.800,117.800,0.000,38.686,33.532,81.484,1.000,0.000,0.000,33.147,403.404,1171.732,381.408,395.659,213.665,33.375,620.973,0.000,368.677,0.000,5.599
$DEVICE_MAMPS,145.730,58.292,724.815,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6431,209
$CFSIZE,260034560,256188416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,145702,4741.138,-12250.324,26,1.8,32,18.3