version: 66.02
glider: 23
mission: 2
dive: 128
start: 9 24 107 21 30 7
data:
$ID,23
$MISSION,2
$DIVE,128
$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,-28971.203
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,212508,4739.696,-12252.072,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.4
$GPS2,212902,4739.695,-12252.065,11,1.6,16,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,0.073
$KALMAN_X,6335.6,48.1,-100.7,-5181.6,-42.5
$KALMAN_Y,6409.0,13.6,-106.1,-6477.2,-37.6
$MHEAD_RNG_PITCHd_Wd,47.8,4103,-17.8,-7.500
$D_GRID,123
$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,-1.22,-97.8,0.0,0.0,0,82,0.00,0.00,-61.33,0.000,2,0.000,0.000,365,2174,3327
$GC,85,-1.22,-97.8,2.2,-3.5,10,122,11.10,2.40,-18.77,0.000,4,0.150,0.062,2342,3546,3884
$GC,281,-1.22,-97.8,17.1,-7.5,40,287,0.00,2.33,0.00,0.000,6,0.000,0.033,2342,2165,3887
$GC,352,-1.22,-97.8,22.1,-7.0,49,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2166,3887
$GC,541,-1.22,-97.8,33.4,-5.6,64,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2166,3888
$GC,731,-1.22,-97.8,45.1,-6.6,79,736,0.00,2.92,0.00,0.000,4,0.000,0.052,2342,728,3888
$GC,768,-1.22,-97.8,47.7,-6.8,81,776,0.00,2.80,0.00,0.000,6,0.000,0.030,2342,2141,3887
$GC,965,-1.22,-97.8,60.8,-6.7,97,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2140,3888
$GC,1155,-1.22,-97.8,72.7,-6.5,112,1159,0.00,2.47,0.00,0.000,4,0.000,0.051,2342,3569,3888
$GC,1285,-1.22,-97.8,81.4,-6.2,121,1293,0.00,2.42,0.00,0.000,6,0.000,0.035,2342,2148,3888
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1450,-0.31,0.0,90.1,5.7,134,1529,0.95,0.00,76.20,0.734,6,0.092,0.000,2536,2030,3483
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1532,1.22,97.8,91.4,0.0,141,1618,1.58,2.95,73.82,0.718,4,0.066,0.058,2871,660,3084
$GC,1635,1.22,97.8,83.5,10.2,149,1643,0.00,2.80,0.00,0.000,6,0.000,0.029,2870,2053,3084
$GC,1832,1.22,97.8,62.1,11.2,165,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2053,3083
$GC,2022,1.22,97.8,42.1,10.4,180,2027,0.00,2.92,0.00,0.000,4,0.000,0.058,2871,646,3083
$GC,2067,1.22,97.8,37.0,10.9,183,2072,0.00,2.80,0.00,0.000,6,0.000,0.030,2870,2078,3083
$GC,2264,1.22,97.8,17.6,9.4,200,2270,0.00,2.95,0.00,0.000,4,0.000,0.058,2870,657,3083
$GC,2316,1.22,97.8,12.0,10.6,208,2323,0.00,2.75,0.00,0.000,6,0.000,0.031,2871,2052,3083
$GC,2388,1.22,97.8,5.6,7.9,219,2395,0.00,2.45,0.00,0.000,4,0.000,0.048,2870,3459,3083
$GC,2645,1.37,237.5,2.7,0.3,258,2696,0.17,2.40,44.88,0.667,2,0.048,0.035,2914,2052,2738
$STATE,2697,end climb,SURFACE_DEPTH_REACHED
$STATE,2697,begin surface coast
$FINISH,0.4,1.014237
$STATE,2755,end surface coast,CONTROL_FINISHED_OK
$STATE,2755,begin surface
$SM_CCo,2775,77.80,0.649,0,0,2056,350.04
$SM_GC,0.98,0.00,0.00,77.80,0.000,0.000,0.649,367,2168,2056,-10.32,0.51,350.04
$IRIDIUM_FIX,4722.92,-12249.11,250907,000007
$TT8_MAMPS,0.026845
$HUMID,2183
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,7.8
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,24.0,11.798
$10V_AH,10.2,4.901
$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,25.400,37.725,194.900,77.800,0.000,39.568,35.326,82.951,1.500,0.000,0.000,17.596,498.410,1538.116,371.346,467.841,240.545,33.350,655.043,0.000,455.741,0.000,8.676
$DEVICE_MAMPS,149.565,62.127,734.019,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,275
$CFSIZE,260034560,254500864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,221833,4739.799,-12251.780,12,1.4,12,18.3