version: 66.02
glider: 23
mission: 2
dive: 52
start: 9 22 107 9 53 8
data:
$ID,23
$MISSION,2
$DIVE,52
$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,-28895.041
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,094138,4740.317,-12250.977,12,1.6,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,095203,4740.416,-12250.932,15,1.7,15,18.3
$SPEED_LIMITS,0.123,0.178
$TGT_NAME,W3
$TGT_LATLONG,47.463,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,-1.957
$KALMAN_X,4427.6,41.3,-137.3,-1817.5,124.2
$KALMAN_Y,2387.0,41.7,14.6,-1272.7,141.3
$MHEAD_RNG_PITCHd_Wd,163.2,5209588,-14.3,-7.083
$D_GRID,105
$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,-1.00,-97.8,0.0,0.0,0,101,0.00,0.00,-79.93,0.000,2,0.000,0.000,367,2133,3737
$GC,103,-1.00,-97.8,2.2,-1.4,13,128,11.25,2.55,-4.05,0.000,4,0.146,0.060,2387,3567,3885
$GC,325,-1.00,-97.8,20.1,-6.0,47,329,0.00,2.40,0.00,0.000,6,0.000,0.033,2387,2148,3888
$GC,527,-1.00,-97.8,30.3,-5.0,63,531,0.00,2.88,0.00,0.000,4,0.000,0.051,2387,726,3887
$GC,585,-1.00,-97.8,33.6,-5.9,67,593,0.00,2.80,0.00,0.000,6,0.000,0.029,2388,2150,3889
$GC,781,-1.00,-97.8,43.7,-5.2,83,785,0.00,2.45,0.00,0.000,4,0.000,0.050,2387,3567,3888
$GC,853,-1.00,-97.8,47.7,-5.2,88,860,0.00,2.40,0.00,0.000,6,0.000,0.034,2387,2155,3888
$GC,1049,-1.00,-97.8,57.8,-5.1,104,1053,0.00,2.88,0.00,0.000,4,0.000,0.052,2387,736,3889
$GC,1080,-1.00,-97.8,59.5,-5.3,106,1088,0.00,2.78,0.00,0.000,6,0.000,0.030,2387,2149,3889
$GC,1279,-1.00,-97.8,70.0,-5.1,122,1283,0.00,2.45,0.00,0.000,4,0.000,0.051,2388,3559,3889
$GC,1423,-1.00,-97.8,78.7,-5.7,133,1427,0.00,2.40,0.00,0.000,6,0.000,0.035,2388,2152,3888
$STATE,1560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1560,begin apogee
$GC,1564,-0.31,0.0,85.5,4.9,144,1647,0.75,0.00,76.10,0.726,6,0.081,0.000,2541,2019,3483
$STATE,1648,end apogee,CONTROL_FINISHED_OK
$STATE,1648,begin climb
$GC,1650,1.00,97.8,86.5,0.0,151,1735,1.33,2.95,73.45,0.708,4,0.064,0.058,2825,649,3085
$GC,1760,1.00,97.8,79.9,8.7,160,1765,0.00,2.80,0.00,0.000,6,0.000,0.031,2825,2046,3085
$GC,1962,1.00,97.8,62.8,8.2,176,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2046,3084
$GC,2154,1.00,97.8,47.6,7.9,191,2158,0.00,2.88,0.00,0.000,4,0.000,0.056,2825,656,3084
$GC,2217,1.00,97.8,41.9,8.9,195,2225,0.00,2.78,0.00,0.000,6,0.000,0.030,2825,2056,3084
$GC,2413,1.00,97.8,26.1,7.8,211,2418,0.00,2.90,0.00,0.000,4,0.000,0.056,2825,647,3083
$GC,2467,1.00,97.8,21.6,8.8,215,2472,0.00,2.78,0.00,0.000,6,0.000,0.031,2825,2062,3084
$GC,2671,3.58,2468.5,6.3,5.5,244,2709,2.42,0.00,32.80,0.687,2,0.032,0.000,3393,2062,2877
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,0.3,1.020278
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2742,93.65,0.641,0,0,2057,350.04
$SM_GC,1.03,0.00,0.00,93.65,0.000,0.000,0.641,367,2171,2057,-10.32,0.59,350.04
$IRIDIUM_FIX,4722.92,-12253.53,220907,131350
$TT8_MAMPS,0.026845
$HUMID,2130
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,10.0,8.3
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.9,6.890
$10V_AH,10.2,3.423
$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,30.075,43.400,182.350,93.650,0.000,117.175,235.380,82.835,2.000,0.000,0.000,16.885,481.732,1663.489,385.215,463.271,499.208,33.350,669.382,0.000,451.362,0.000,7.167
$DEVICE_MAMPS,145.730,59.826,725.582,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,252
$CFSIZE,260034560,256307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,104138,4740.239,-12250.805,33,1.3,33,18.3