version: 66.02
glider: 23
mission: 2
dive: 64
start: 9 22 107 19 4 43
data:
$ID,23
$MISSION,2
$DIVE,64
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,80
$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,-28906.277
$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,20
$R_STBD_OVSHOOT,44
$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
$GPS1,185956,4742.083,-12250.126,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.8
$GPS2,190338,4742.098,-12250.117,15,1.2,15,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.020,0.185
$KALMAN_X,5695.5,167.1,-74.9,-2261.8,39.4
$KALMAN_Y,6673.4,654.6,-351.5,-2684.0,-6.4
$MHEAD_RNG_PITCHd_Wd,335.5,7703,-19.7,-8.333
$D_GRID,129
$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,-1.34,-97.8,0.0,0.0,0,76,0.00,0.00,-55.97,0.000,2,0.000,0.000,363,2177,3200
$GC,79,-1.34,-97.8,2.0,-4.1,9,128,10.88,2.40,-29.27,0.000,4,0.146,0.062,2312,3537,3884
$GC,378,-1.34,-97.8,26.6,-8.1,49,382,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2145,3885
$GC,582,-1.34,-97.8,41.2,-6.8,65,586,0.00,2.45,0.00,0.000,4,0.000,0.049,2312,3552,3886
$GC,838,-1.34,-97.8,61.6,-8.0,84,842,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2150,3886
$GC,1040,-1.34,-97.8,76.7,-7.2,100,1044,0.00,2.42,0.00,0.000,4,0.000,0.049,2312,3547,3886
$GC,1297,-1.34,-97.8,97.7,-8.1,119,1305,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2144,3886
$STATE,1353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1353,begin apogee
$GC,1357,-0.31,0.0,100.0,3.5,124,1440,1.10,0.00,75.97,0.735,6,0.079,0.000,2538,2020,3483
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1442,1.34,97.8,99.9,0.0,131,1528,1.73,2.92,73.62,0.720,4,0.073,0.057,2899,655,3085
$GC,1678,1.34,97.8,80.7,10.5,149,1686,0.00,2.72,0.00,0.000,6,0.000,0.028,2899,2024,3085
$GC,1874,1.34,97.8,62.1,9.4,165,1879,0.00,2.88,0.00,0.000,4,0.000,0.057,2899,656,3085
$GC,1913,1.34,97.8,57.0,13.0,168,1918,0.00,2.78,0.00,0.000,6,0.000,0.030,2899,2071,3085
$GC,2115,1.34,97.8,31.5,12.1,184,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2070,3085
$GC,2309,1.34,97.8,9.3,10.8,206,2316,0.00,2.92,0.00,0.000,4,0.000,0.056,2899,654,3085
$GC,2321,1.34,97.8,7.9,10.4,208,2328,0.00,2.78,0.00,0.000,6,0.000,0.031,2899,2049,3085
$GC,2393,1.40,150.8,2.8,5.3,219,2419,0.00,0.00,23.90,0.671,2,0.000,0.000,2899,2049,2906
$STATE,2420,end climb,SURFACE_DEPTH_REACHED
$STATE,2420,begin surface coast
$FINISH,0.4,1.006433
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2484,98.47,0.642,0,0,2056,350.04
$SM_GC,1.14,0.00,0.00,98.47,0.000,0.000,0.642,365,2170,2056,-10.33,0.57,350.04
$IRIDIUM_FIX,4722.92,-12249.11,220907,222233
$TT8_MAMPS,0.026845
$HUMID,2124
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,8.3
$ALTIM_BOTTOM_PING,85.3,22.3
$24V_AH,23.9,7.631
$10V_AH,10.2,3.651
$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,25.225,31.825,173.500,98.475,0.000,39.165,26.778,88.928,1.000,0.000,0.000,17.114,445.009,1341.653,371.095,464.570,215.233,33.332,645.162,0.000,452.837,0.000,7.140
$DEVICE_MAMPS,145.730,62.127,734.786,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,230
$CFSIZE,260034560,256036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,194907,4742.236,-12249.913,40,1.3,40,18.3