version: 66.02
glider: 23
mission: 2
dive: 58
start: 9 22 107 15 1 55
data:
$ID,23
$MISSION,2
$DIVE,58
$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,-28906.002
$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,37
$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
$GPS1,145702,4741.138,-12250.324,26,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.1
$GPS2,150051,4741.147,-12250.319,9,1.3,9,18.3
$SPEED_LIMITS,0.164,0.193
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,0.188
$KALMAN_X,5567.5,236.8,316.4,-2838.6,34.3
$KALMAN_Y,5755.1,854.6,678.5,-4759.7,-201.4
$MHEAD_RNG_PITCHd_Wd,336.1,9463,-22.8,-9.444
$D_GRID,86
$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,-1.53,-93.5,0.0,0.0,0,76,0.00,0.00,-56.30,0.000,2,0.000,0.000,367,2171,3199
$GC,78,-1.53,-97.8,2.1,-4.1,9,122,10.62,2.40,-24.73,0.000,4,0.146,0.062,2270,3549,3884
$GC,371,-1.53,-97.8,29.6,-9.3,46,379,0.00,2.40,0.00,0.000,6,0.000,0.034,2270,2150,3886
$GC,567,-1.53,-97.8,46.6,-8.6,62,572,0.00,2.45,0.00,0.000,4,0.000,0.048,2270,3545,3886
$GC,823,-1.53,-97.8,71.4,-9.8,81,832,0.00,2.40,0.00,0.000,6,0.000,0.035,2270,2151,3887
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,986,-0.31,0.0,85.7,9.3,94,1068,1.35,0.00,76.00,0.718,6,0.098,0.000,2537,2031,3484
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1070,1.53,97.8,87.2,0.0,101,1156,1.90,2.95,74.05,0.704,4,0.068,0.058,2938,658,3084
$GC,1319,1.53,97.8,54.0,15.8,120,1327,0.00,2.75,0.00,0.000,6,0.000,0.028,2939,2043,3084
$GC,1516,1.53,97.8,25.4,14.4,136,1520,0.00,2.47,0.00,0.000,4,0.000,0.044,2940,3455,3084
$GC,1601,1.53,97.8,13.1,14.4,146,1608,0.00,2.42,0.00,0.000,6,0.000,0.038,2938,2068,3083
$GC,1674,1.53,97.8,4.0,11.2,157,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2068,3083
$STATE,1703,end climb,SURFACE_DEPTH_REACHED
$STATE,1703,begin surface coast
$FINISH,0.6,1.020950
$STATE,1738,end surface coast,CONTROL_FINISHED_OK
$STATE,1738,begin surface
$SM_CCo,1756,127.18,0.635,0,0,2057,350.04
$SM_GC,0.97,0.00,0.00,127.18,0.000,0.000,0.635,368,2177,2057,-10.31,0.76,350.04
$IRIDIUM_FIX,4722.92,-12249.11,220907,181847
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.1
$ALTIM_BOTTOM_PING,70.3,20.3
$24V_AH,23.9,7.267
$10V_AH,10.2,3.543
$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,25.625,20.600,150.050,127.175,0.000,37.097,34.406,96.233,1.000,0.000,0.000,11.373,324.503,890.004,373.877,336.696,218.921,33.347,583.835,0.000,332.909,0.000,5.616
$DEVICE_MAMPS,146.497,62.127,717.912,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,111.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,167
$CFSIZE,260034560,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,153409,4741.199,-12250.272,9,1.2,9,18.3