version: 66.02
glider: 23
mission: 2
dive: 51
start: 9 22 107 8 58 50
data:
$ID,23
$MISSION,2
$DIVE,51
$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,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,-28896.535
$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,38
$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
$GPS1,085403,4740.456,-12251.074,9,1.1,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.5
$GPS2,085745,4740.486,-12251.055,11,1.4,11,18.3
$SPEED_LIMITS,0.123,0.178
$TGT_NAME,W3
$TGT_LATLONG,47.463,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,-0.178
$KALMAN_X,4321.7,28.3,-167.4,-1822.4,96.8
$KALMAN_Y,2120.5,53.9,-7.4,-865.0,77.6
$MHEAD_RNG_PITCHd_Wd,161.7,5209716,-16.7,-7.083
$D_GRID,101
$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,-1.15,-97.8,0.0,0.0,0,76,0.00,0.00,-55.62,0.000,2,0.000,0.000,367,2178,3203
$GC,78,-1.15,-97.8,2.3,-3.3,9,120,11.10,0.00,-24.02,0.000,6,0.146,0.000,2355,2177,3884
$GC,185,-1.15,-97.8,8.5,-7.3,26,192,0.00,2.40,0.00,0.000,4,0.000,0.048,2355,3540,3885
$GC,442,-1.15,-97.8,27.6,-6.7,56,449,0.00,2.35,0.00,0.000,6,0.000,0.034,2355,2166,3888
$GC,638,-1.15,-97.8,39.7,-6.5,72,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2166,3887
$GC,828,-1.15,-97.8,51.8,-6.4,87,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2166,3888
$GC,1017,-1.15,-97.8,63.8,-6.2,102,1021,0.00,2.40,0.00,0.000,4,0.000,0.049,2355,3547,3888
$GC,1219,-1.15,-97.8,78.0,-7.4,117,1228,0.00,2.42,0.00,0.000,6,0.000,0.035,2355,2140,3888
$STATE,1339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1339,begin apogee
$GC,1343,-0.31,0.0,85.4,5.7,127,1426,0.93,0.00,76.25,0.717,6,0.090,0.000,2540,2032,3483
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1428,1.15,97.8,86.9,0.0,134,1511,1.52,2.90,74.15,0.704,4,0.067,0.057,2861,656,3084
$GC,1523,1.15,97.8,80.7,9.5,142,1528,0.00,2.72,0.00,0.000,6,0.000,0.029,2861,2031,3084
$GC,1725,1.15,97.8,59.6,10.1,158,1730,0.00,2.53,0.00,0.000,4,0.000,0.046,2861,3466,3083
$GC,1757,1.15,97.8,56.3,10.3,160,1765,0.00,2.47,0.00,0.000,6,0.000,0.038,2861,2067,3083
$GC,1953,1.15,97.8,36.4,10.1,176,1958,0.00,2.95,0.00,0.000,4,0.000,0.059,2861,647,3083
$GC,1979,1.15,97.8,33.8,10.3,178,1984,0.00,2.75,0.00,0.000,6,0.000,0.029,2861,2057,3083
$GC,2177,1.15,97.8,15.0,9.8,197,2184,0.00,2.92,0.00,0.000,4,0.000,0.058,2861,637,3083
$GC,2237,1.15,97.8,9.1,10.1,206,2243,0.00,2.75,0.00,0.000,6,0.000,0.031,2861,2048,3083
$GC,2308,1.20,142.8,3.9,4.9,217,2346,0.00,2.53,29.00,0.672,4,0.000,0.048,2861,3450,2901
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,0.3,1.013732
$STATE,2399,end surface coast,CONTROL_FINISHED_OK
$STATE,2399,begin surface
$SM_CCo,2419,96.38,0.635,0,0,2057,350.04
$SM_GC,1.08,0.00,0.00,96.38,0.000,0.000,0.635,366,2133,2057,-10.32,-0.48,350.04
$IRIDIUM_FIX,4722.92,-12251.79,220907,121224
$TT8_MAMPS,0.026845
$HUMID,2124
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,8.3
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.9,6.817
$10V_AH,10.2,3.399
$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,24.875,36.550,179.400,96.375,0.000,40.453,40.256,75.801,1.000,0.000,0.000,13.099,436.396,1320.872,387.846,407.822,215.367,33.346,639.160,0.000,401.177,0.000,7.156
$DEVICE_MAMPS,146.497,59.059,717.145,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,231
$CFSIZE,260034560,256339968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,094138,4740.317,-12250.977,12,1.6,12,18.3