version: 66.02
glider: 23
mission: 2
dive: 61
start: 9 22 107 17 5 25
data:
$ID,23
$MISSION,2
$DIVE,61
$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,-28904.426
$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,23
$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
$GPS1,170038,4741.543,-12250.560,38,1.2,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.4
$GPS2,170421,4741.569,-12250.605,12,1.5,12,18.3
$SPEED_LIMITS,0.164,0.193
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,0.171
$KALMAN_X,5297.9,222.5,195.4,-2789.3,-155.9
$KALMAN_Y,6139.9,770.1,50.3,-3650.4,-166.9
$MHEAD_RNG_PITCHd_Wd,9.7,8692,-22.2,-9.444
$D_GRID,118
$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,-1.50,-97.7,0.0,0.0,0,76,0.00,0.00,-56.38,0.000,2,0.000,0.000,367,2136,3215
$GC,79,-1.50,-97.8,2.2,-4.2,9,122,10.62,2.47,-24.10,0.000,4,0.144,0.061,2277,3532,3884
$GC,371,-1.50,-97.8,28.2,-9.3,47,379,0.00,2.38,0.00,0.000,6,0.000,0.033,2277,2147,3886
$GC,567,-1.50,-97.8,43.0,-6.5,63,572,0.00,2.45,0.00,0.000,4,0.000,0.048,2277,3545,3887
$GC,752,-1.50,-97.8,56.9,-8.5,77,756,0.00,2.38,0.00,0.000,6,0.000,0.034,2277,2153,3887
$GC,954,-1.50,-97.8,76.6,-9.3,93,958,0.00,2.40,0.00,0.000,4,0.000,0.049,2277,3536,3887
$STATE,1077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1077,begin apogee
$GC,1084,-0.31,0.0,85.3,5.1,102,1164,1.30,0.00,76.05,0.717,6,0.100,0.000,2536,2035,3484
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1166,1.50,97.8,85.2,0.0,109,1252,1.85,2.97,73.72,0.703,4,0.063,0.058,2931,648,3084
$GC,1282,1.50,97.8,71.2,17.0,118,1291,0.00,2.72,0.00,0.000,6,0.000,0.028,2931,2013,3084
$GC,1479,1.50,97.8,40.8,15.8,134,1484,0.00,2.53,0.00,0.000,4,0.000,0.043,2931,3465,3084
$GC,1630,1.50,97.8,18.0,13.5,146,1637,0.00,2.47,0.00,0.000,6,0.000,0.041,2931,2052,3083
$GC,1702,1.50,97.8,8.2,14.1,157,1709,0.00,2.92,0.00,0.000,4,0.000,0.060,2931,636,3083
$GC,1734,1.50,97.8,4.2,12.6,162,1741,0.00,2.80,0.00,0.000,6,0.000,0.030,2931,2069,3084
$GC,1806,1.64,226.6,2.3,1.1,173,1826,0.15,0.00,17.55,0.669,2,0.051,0.000,2969,2070,2952
$STATE,1827,end climb,SURFACE_DEPTH_REACHED
$STATE,1827,begin surface coast
$FINISH,0.4,1.010152
$STATE,1933,end surface coast,CONTROL_FINISHED_OK
$STATE,1933,begin surface
$SM_CCo,1952,108.65,0.634,0,0,2056,350.04
$SM_GC,1.11,0.00,0.00,108.65,0.000,0.000,0.634,367,2174,2056,-10.32,0.68,350.04
$IRIDIUM_FIX,4726.11,-12246.42,220907,202029
$TT8_MAMPS,0.026845
$HUMID,2121
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,10.0,10.6
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.9,7.449
$10V_AH,10.2,3.597
$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,25.725,31.225,167.325,108.650,0.000,40.312,33.502,85.257,1.500,0.000,0.000,13.595,371.986,975.164,372.641,380.217,216.062,33.366,607.807,0.000,372.244,0.000,7.162
$DEVICE_MAMPS,144.196,60.593,717.145,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6468,192
$CFSIZE,260034560,256102400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,174038,4741.792,-12250.516,11,1.6,11,18.3