version: 66.02
glider: 23
mission: 2
dive: 8
start: 9 20 107 22 8 6
data:
$ID,23
$MISSION,2
$DIVE,8
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$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,-28908.502
$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,20
$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
$GPS1,215653,4739.420,-12251.133,8,2.4,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.7
$GPS2,220702,4739.437,-12251.093,14,1.5,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,0.138
$KALMAN_X,291.3,26.4,-9.6,2002.9,144.6
$KALMAN_Y,267.6,141.2,48.3,-1096.3,4.7
$MHEAD_RNG_PITCHd_Wd,24.0,3269,-19.8,-8.333
$D_GRID,120
$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,-1.34,-97.8,0.0,0.0,0,76,0.00,0.00,-56.03,0.000,2,0.000,0.000,364,2147,3201
$GC,78,-1.34,-97.8,2.1,-4.2,9,120,10.88,0.00,-24.17,0.000,6,0.146,0.000,2315,2149,3884
$GC,185,-1.34,-97.8,10.3,-9.7,26,186,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2149,3885
$GC,251,-1.34,-97.8,15.4,-7.2,36,258,0.00,2.45,0.00,0.000,4,0.000,0.046,2315,3572,3886
$GC,321,-1.34,-97.8,21.2,-8.4,46,329,0.00,2.42,0.00,0.000,6,0.000,0.033,2315,2152,3886
$GC,518,-1.34,-97.8,36.8,-8.0,62,522,0.00,2.45,0.00,0.000,4,0.000,0.046,2315,3564,3888
$GC,664,-1.34,-97.8,50.0,-9.2,73,671,0.00,2.40,0.00,0.000,6,0.000,0.035,2315,2146,3889
$GC,865,-1.34,-97.8,67.6,-8.7,89,870,0.00,2.47,0.00,0.000,4,0.000,0.048,2315,3554,3890
$GC,931,-1.34,-97.8,73.9,-9.7,94,935,0.00,2.40,0.00,0.000,6,0.000,0.036,2315,2154,3889
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1223,-0.31,0.0,100.1,9.0,117,1306,1.12,0.00,75.07,0.746,6,0.091,0.000,2540,2154,3484
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1308,1.34,97.8,102.2,0.0,124,1394,1.67,3.03,72.82,0.732,4,0.065,0.058,2898,740,3084
$GC,1432,1.34,97.8,92.6,11.4,134,1437,0.00,2.80,0.00,0.000,6,0.000,0.031,2898,2152,3084
$GC,1760,1.34,97.8,56.1,10.7,160,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2152,3084
$GC,2076,1.34,97.8,22.5,10.7,185,2080,0.00,2.90,0.00,0.000,4,0.000,0.055,2898,733,3083
$GC,2101,1.34,97.8,19.5,11.8,187,2109,0.00,2.80,0.00,0.000,6,0.000,0.031,2898,2153,3083
$GC,2173,1.34,97.8,12.6,9.1,198,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2153,3083
$GC,2239,1.34,101.3,6.8,8.1,208,2245,0.00,0.00,2.35,0.783,6,0.000,0.000,2898,2151,3070
$GC,2310,1.47,220.6,3.1,1.5,219,2367,0.15,0.00,53.78,0.672,2,0.050,0.000,2936,2150,2662
$STATE,2368,end climb,SURFACE_DEPTH_REACHED
$STATE,2368,begin surface coast
$FINISH,0.3,1.005343
$STATE,2419,end surface coast,CONTROL_FINISHED_OK
$STATE,2419,begin surface
$SM_CCo,2437,68.78,0.653,0,0,2056,350.04
$SM_GC,1.12,0.00,0.00,68.78,0.000,0.000,0.653,364,2152,2056,-10.33,0.06,350.04
$IRIDIUM_FIX,4722.92,-12249.11,210907,020211
$TT8_MAMPS,0.026845
$HUMID,2183
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.4,7.9
$ALTIM_BOTTOM_PING,85.3,31.4
$24V_AH,23.9,4.040
$10V_AH,10.2,2.544
$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,25.525,26.125,204.025,68.775,0.000,114.253,104.070,194.286,2.250,0.000,0.000,15.921,432.840,1458.874,358.576,417.028,479.324,33.325,619.829,0.000,404.664,0.000,9.984
$DEVICE_MAMPS,145.730,58.292,783.107,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,236
$CFSIZE,260034560,257392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,225044,4739.635,-12250.744,12,1.3,12,18.3