version: 66.02
glider: 23
mission: 2
dive: 68
start: 9 22 107 21 8 51
data:
$ID,23
$MISSION,2
$DIVE,68
$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,-28976.115
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2675
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,210339,4742.208,-12249.898,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,210746,4742.192,-12249.905,26,1.3,35,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,0.187
$KALMAN_X,6200.9,175.4,-146.4,-2433.9,1.5
$KALMAN_Y,6413.9,453.0,-406.1,-1996.4,-57.7
$MHEAD_RNG_PITCHd_Wd,339.0,7541,-19.6,-8.333
$D_GRID,40
$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,-1.33,-97.8,0.0,0.0,0,76,0.00,0.00,-55.88,0.000,2,0.000,0.000,368,2155,3220
$GC,79,-1.33,-97.8,2.1,-4.3,9,122,11.23,2.92,-23.05,0.000,4,0.146,0.057,2381,739,3884
$GC,134,-1.33,-97.8,4.4,-5.1,18,141,0.00,2.78,0.00,0.000,6,0.000,0.028,2381,2160,3884
$GC,206,-1.33,-97.8,8.8,-7.1,29,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2160,3886
$GC,277,-1.33,-97.8,13.6,-6.3,40,284,0.00,2.90,0.00,0.000,4,0.000,0.047,2381,734,3886
$GC,304,-1.33,-97.8,15.1,-6.0,44,310,0.00,2.78,0.00,0.000,6,0.000,0.028,2381,2158,3887
$GC,375,-1.33,-97.8,18.8,-5.1,55,382,0.00,2.42,0.00,0.000,4,0.000,0.048,2381,3569,3886
$GC,446,-1.33,-97.8,22.7,-5.4,62,454,0.00,2.40,0.00,0.000,6,0.000,0.032,2381,2154,3886
$GC,642,-1.33,-97.8,31.9,-4.6,78,647,0.00,2.88,0.00,0.000,4,0.000,0.051,2381,730,3886
$GC,680,-1.33,-97.8,33.9,-5.3,80,688,0.00,2.80,0.00,0.000,6,0.000,0.028,2381,2149,3887
$STATE,812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,812,begin apogee
$GC,816,-0.31,0.0,40.6,5.1,91,899,1.10,0.00,75.32,0.663,6,0.084,0.000,2605,2015,3483
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,902,1.33,97.8,40.6,0.0,98,983,1.67,0.00,73.00,0.654,6,0.051,0.000,2970,2015,3084
$GC,1176,1.33,97.8,3.4,13.4,128,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2015,3083
$STATE,1187,end climb,SURFACE_DEPTH_REACHED
$STATE,1187,begin surface coast
$FINISH,0.4,1.020908
$STATE,1201,end surface coast,CONTROL_FINISHED_OK
$STATE,1201,begin surface
$SM_CCo,1220,122.57,0.613,0,0,2056,350.04
$SM_GC,1.08,0.00,0.00,122.57,0.000,0.000,0.613,365,2178,2056,-10.63,0.79,350.04
$IRIDIUM_FIX,4726.11,-12248.15,230907,000047
$TT8_MAMPS,0.026845
$HUMID,2054
$TCM_TEMP,20.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,7.4
$ALTIM_BOTTOM_PING,25.5,29.9
$24V_AH,24.0,7.878
$10V_AH,10.2,3.710
$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,25.800,22.325,148.325,122.575,0.000,38.102,40.619,82.854,0.750,0.000,0.000,37.224,262.852,520.281,384.142,245.727,212.395,33.329,543.388,0.000,220.790,0.000,4.109
$DEVICE_MAMPS,145.730,56.758,663.455,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,86.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3307,132
$CFSIZE,260034560,255975424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,213223,4742.256,-12249.920,8,2.2,27,18.3