version: 66.02
glider: 23
mission: 2
dive: 60
start: 9 22 107 16 23 54
data:
$ID,23
$MISSION,2
$DIVE,60
$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,-28906.65
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,161903,4741.458,-12250.415,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.9
$GPS2,162250,4741.472,-12250.437,13,2.0,13,18.3
$SPEED_LIMITS,0.164,0.193
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,0.187
$KALMAN_X,5487.6,242.2,264.5,-2857.8,-87.6
$KALMAN_Y,6037.6,814.5,261.7,-3989.8,-181.5
$MHEAD_RNG_PITCHd_Wd,356.9,8865,-22.2,-9.444
$D_GRID,116
$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,-1.49,-97.8,0.0,0.0,0,76,0.00,0.00,-56.47,0.000,2,0.000,0.000,367,2169,3210
$GC,78,-1.49,-97.8,2.1,-4.1,9,122,10.68,2.42,-24.17,0.000,4,0.146,0.062,2278,3535,3883
$GC,371,-1.49,-97.8,28.4,-8.2,47,379,0.00,2.33,0.00,0.000,6,0.000,0.033,2278,2169,3885
$GC,567,-1.49,-97.8,44.9,-10.3,63,572,0.00,2.40,0.00,0.000,4,0.000,0.048,2278,3540,3886
$GC,824,-1.49,-97.8,68.6,-8.5,82,832,0.00,2.38,0.00,0.000,6,0.000,0.034,2278,2146,3887
$STATE,1019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1019,begin apogee
$GC,1023,-0.31,0.0,85.6,8.4,98,1106,1.30,0.00,76.03,0.718,6,0.097,0.000,2537,2024,3483
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1108,1.49,97.8,87.4,0.0,105,1194,1.85,2.55,73.80,0.703,4,0.065,0.043,2930,3446,3084
$GC,1445,1.49,97.8,43.9,13.0,131,1450,0.00,2.40,0.00,0.000,6,0.000,0.040,2930,2059,3083
$GC,1639,1.49,97.8,19.0,13.2,146,1646,0.00,2.42,0.00,0.000,4,0.000,0.042,2930,3441,3083
$STATE,1836,end climb,SURFACE_DEPTH_REACHED
$STATE,1836,begin surface coast
$FINISH,1.0,1.020814
$STATE,1982,end surface coast,CONTROL_FINISHED_OK
$STATE,1982,begin surface
$SM_CCo,2003,121.18,0.640,0,0,2056,350.04
$SM_GC,1.03,0.00,0.00,121.18,0.000,0.000,0.640,366,2136,2056,-10.32,-0.40,350.04
$IRIDIUM_FIX,4726.11,-12253.53,220907,191925
$TT8_MAMPS,0.026845
$HUMID,2153
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.1
$ALTIM_BOTTOM_PING,70.2,35.1
$24V_AH,23.9,7.388
$10V_AH,10.2,3.579
$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,25.700,19.325,149.825,121.175,0.000,39.204,38.547,82.913,1.000,0.000,0.000,15.413,375.196,1041.531,361.602,390.393,213.870,33.365,587.827,0.000,381.956,0.000,5.638
$DEVICE_MAMPS,146.497,62.127,717.912,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,198
$CFSIZE,260034560,256126976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,170038,4741.543,-12250.560,38,1.2,38,18.3