version: 66.02
glider: 23
mission: 2
dive: 126
start: 9 24 107 19 37 54
data:
$ID,23
$MISSION,2
$DIVE,126
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,-28983.48
$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,17
$R_STBD_OVSHOOT,26
$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
$GPS1,192821,4739.513,-12252.586,10,1.8,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.9
$GPS2,193650,4739.521,-12252.572,11,2.0,29,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,0.105
$KALMAN_X,6432.7,49.4,-27.9,-5985.1,-47.2
$KALMAN_Y,6472.0,104.2,-81.6,-6977.2,-128.1
$MHEAD_RNG_PITCHd_Wd,36.1,4810,-17.8,-7.500
$D_GRID,124
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.22,-97.8,0.0,0.0,0,89,0.00,0.00,-67.38,0.000,2,0.000,0.000,367,2160,3444
$GC,92,-1.22,-97.8,2.2,-4.0,11,129,10.95,2.95,-16.55,0.000,4,0.145,0.058,2342,728,3883
$GC,342,-1.22,-97.8,17.4,-6.3,49,348,0.00,2.80,0.00,0.000,6,0.000,0.031,2342,2157,3886
$GC,412,-1.22,-97.8,21.4,-5.6,58,416,0.00,2.45,0.00,0.000,4,0.000,0.050,2342,3565,3886
$GC,457,-1.22,-97.8,24.4,-6.5,61,464,0.00,2.42,0.00,0.000,6,0.000,0.033,2342,2147,3886
$GC,653,-1.22,-97.8,36.1,-6.7,77,657,0.00,2.45,0.00,0.000,4,0.000,0.049,2342,3561,3887
$GC,791,-1.22,-97.8,45.5,-6.6,87,798,0.00,2.42,0.00,0.000,6,0.000,0.035,2342,2145,3887
$GC,987,-1.22,-97.8,57.4,-6.0,103,991,0.00,2.45,0.00,0.000,4,0.000,0.051,2342,3562,3887
$GC,1031,-1.22,-97.8,60.4,-6.8,106,1039,0.00,2.42,0.00,0.000,6,0.000,0.035,2342,2147,3887
$GC,1228,-1.22,-97.8,72.2,-6.3,122,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2147,3888
$GC,1417,-1.22,-97.8,84.1,-6.3,137,1421,0.00,2.47,0.00,0.000,4,0.000,0.052,2342,3569,3887
$GC,1483,-1.22,-97.8,88.4,-6.6,142,1487,0.00,2.40,0.00,0.000,6,0.000,0.037,2342,2149,3887
$STATE,1510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1510,begin apogee
$GC,1515,-0.31,0.0,90.1,6.4,144,1595,0.95,0.00,76.05,0.735,6,0.092,0.000,2536,2031,3484
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1597,1.22,97.8,91.4,0.0,151,1678,1.60,0.00,74.00,0.717,6,0.065,0.000,2871,2031,3084
$GC,1866,1.22,97.8,65.6,11.2,173,1871,0.00,2.88,0.00,0.000,4,0.000,0.061,2871,656,3083
$GC,1898,1.22,97.8,61.8,12.3,175,1903,0.00,2.78,0.00,0.000,6,0.000,0.030,2871,2048,3084
$GC,2100,1.22,97.8,40.7,10.1,191,2105,0.00,2.90,0.00,0.000,4,0.000,0.058,2871,655,3083
$GC,2139,1.22,97.8,36.7,10.5,194,2144,0.00,2.75,0.00,0.000,6,0.000,0.031,2871,2053,3083
$GC,2336,1.22,97.8,16.9,10.4,211,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2052,3083
$GC,2407,1.22,97.8,10.3,9.2,222,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2051,3083
$GC,2479,1.22,97.8,3.5,8.7,233,2485,0.00,2.45,0.00,0.000,4,0.000,0.048,2872,3459,3083
$STATE,2504,end climb,SURFACE_DEPTH_REACHED
$STATE,2504,begin surface coast
$FINISH,1.6,1.021261
$STATE,2510,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2531,120.25,0.645,0,0,2056,350.04
$SM_GC,1.05,0.00,0.00,120.25,0.000,0.000,0.645,366,2151,2056,-10.32,0.03,350.04
$IRIDIUM_FIX,4722.92,-12256.21,240907,232343
$TT8_MAMPS,0.026845
$HUMID,2138
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,90.1,29.7
$24V_AH,24.0,11.672
$10V_AH,10.2,4.857
$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,25.100,41.450,150.050,120.250,0.000,76.152,89.448,176.494,2.000,0.000,0.000,30.895,457.104,1465.490,384.797,443.119,440.025,33.350,648.571,0.000,414.931,0.000,11.679
$DEVICE_MAMPS,144.963,60.593,734.786,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6438,238
$CFSIZE,260034560,254554112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,202337,4739.599,-12252.376,39,1.4,50,18.3