version: 66.02
glider: 23
mission: 2
dive: 24
start: 9 21 107 10 38 31
data:
$ID,23
$MISSION,2
$DIVE,24
$D_SURF,2
$D_FLARE,2
$D_TGT,70
$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,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,-28947.404
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,28
$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
$GPS1,103350,4739.815,-12249.705,8,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.9
$GPS2,103727,4739.816,-12249.675,11,1.7,11,18.3
$SPEED_LIMITS,0.101,0.167
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.165
$KALMAN_X,2173.6,134.3,75.0,1699.5,145.6
$KALMAN_Y,972.4,12.8,28.8,-947.8,-253.7
$MHEAD_RNG_PITCHd_Wd,334.5,1521,-13.3,-5.833
$D_GRID,82
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.94,-97.8,0.0,0.0,0,77,0.00,0.00,-56.40,0.000,2,0.000,0.000,365,2133,3221
$GC,79,-0.94,-97.8,2.2,-2.8,9,122,11.43,2.55,-21.75,0.000,4,0.147,0.059,2401,3559,3884
$GC,134,-0.94,-97.8,6.2,-7.3,18,142,0.00,2.45,0.00,0.000,6,0.000,0.037,2402,2154,3886
$GC,206,-0.94,-97.8,12.1,-7.3,29,213,0.00,2.90,0.00,0.000,4,0.000,0.053,2401,727,3886
$GC,462,-0.94,-97.8,27.7,-5.9,58,470,0.00,2.80,0.00,0.000,6,0.000,0.030,2401,2148,3887
$GC,659,-0.94,-97.8,39.1,-5.6,74,663,0.00,2.88,0.00,0.000,4,0.000,0.051,2401,733,3886
$GC,797,-0.94,-97.8,47.4,-5.8,84,804,0.00,2.78,0.00,0.000,6,0.000,0.031,2401,2144,3887
$GC,993,-0.94,-97.8,58.4,-5.3,100,997,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,3569,3887
$GC,1024,-0.94,-97.8,60.4,-6.3,102,1032,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,2148,3887
$STATE,1206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1210,-0.31,0.0,70.5,5.7,117,1293,0.68,0.00,75.65,0.714,6,0.081,0.000,2538,2149,3483
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1295,0.94,97.8,72.3,0.0,124,1377,1.30,0.00,73.60,0.703,6,0.064,0.000,2812,2148,3085
$GC,1565,0.94,97.8,55.7,7.2,146,1569,0.00,2.92,0.00,0.000,4,0.000,0.057,2812,731,3084
$GC,1649,0.94,97.8,49.2,7.2,152,1657,0.00,2.83,0.00,0.000,6,0.000,0.030,2813,2155,3085
$GC,1846,0.94,97.8,34.8,7.1,168,1850,0.00,2.92,0.00,0.000,4,0.000,0.054,2813,736,3085
$GC,1903,0.94,97.8,30.2,7.8,172,1911,0.00,2.80,0.00,0.000,6,0.000,0.031,2813,2151,3085
$GC,2102,0.94,97.8,16.3,6.1,192,2109,0.00,2.92,0.00,0.000,4,0.000,0.054,2813,727,3085
$GC,2161,0.94,97.8,12.4,6.6,201,2168,0.00,2.80,0.00,0.000,6,0.000,0.031,2813,2162,3084
$GC,2233,0.94,99.0,8.3,5.8,212,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2161,3084
$GC,2305,1.00,154.7,5.2,3.6,223,2355,0.00,2.50,41.97,0.675,4,0.000,0.051,2812,3569,2853
$GC,2374,1.08,226.7,3.3,2.9,234,2413,0.15,2.42,32.72,0.653,2,0.051,0.034,2851,2147,2591
$STATE,2413,end climb,SURFACE_DEPTH_REACHED
$STATE,2413,begin surface coast
$FINISH,0.3,1.019253
$STATE,2471,end surface coast,CONTROL_FINISHED_OK
$STATE,2471,begin surface
$SM_CCo,2489,61.00,0.647,0,0,2056,350.04
$SM_GC,1.14,0.00,0.00,61.00,0.000,0.000,0.647,366,2138,2056,-10.32,-0.34,350.04
$IRIDIUM_FIX,4719.74,-12247.38,210907,131304
$TT8_MAMPS,0.026845
$HUMID,2144
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,8.2
$ALTIM_BOTTOM_PING,50.7,8.8
$24V_AH,23.9,5.046
$10V_AH,10.2,2.852
$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,24.825,43.400,223.950,61.000,0.000,40.539,37.733,76.912,1.250,0.000,0.000,12.551,448.136,1292.577,406.838,436.546,214.524,33.363,679.323,0.000,429.191,0.000,6.989
$DEVICE_MAMPS,147.264,59.059,714.077,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6429,249
$CFSIZE,260034560,256999424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,112208,4739.982,-12249.435,25,1.3,26,18.3