version: 66.02
glider: 23
mission: 2
dive: 13
start: 9 21 107 2 3 55
data:
$ID,23
$MISSION,2
$DIVE,13
$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,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,-28923.961
$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,17
$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
$GPS1,015901,4739.665,-12250.898,27,1.4,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.4
$GPS2,020250,4739.665,-12250.907,9,1.5,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,-0.143
$KALMAN_X,694.9,110.1,120.7,1620.0,36.5
$KALMAN_Y,895.9,150.5,23.0,-1284.7,115.4
$MHEAD_RNG_PITCHd_Wd,201.7,1837,-19.8,-8.333
$D_GRID,118
$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,-56.42,0.000,2,0.000,0.000,364,2154,3211
$GC,78,-1.34,-97.8,2.2,-4.7,9,121,11.00,2.53,-22.10,0.000,4,0.150,0.058,2313,3571,3884
$GC,140,-1.34,-97.8,6.8,-10.7,19,147,0.00,2.45,0.00,0.000,6,0.000,0.033,2313,2149,3885
$GC,212,-1.34,-97.8,13.4,-9.1,30,219,0.00,2.88,0.00,0.000,4,0.000,0.051,2313,725,3887
$GC,454,-1.34,-97.8,35.2,-9.1,54,463,0.00,2.80,0.00,0.000,6,0.000,0.029,2313,2147,3887
$GC,651,-1.34,-97.8,51.9,-8.9,70,655,0.00,2.47,0.00,0.000,4,0.000,0.048,2313,3552,3888
$GC,796,-1.34,-97.8,66.2,-9.6,81,801,0.00,2.42,0.00,0.000,6,0.000,0.036,2313,2134,3888
$GC,998,-1.34,-97.8,85.2,-9.4,97,1002,0.00,2.53,0.00,0.000,4,0.000,0.049,2313,3557,3889
$GC,1090,-1.34,-97.8,93.9,-9.0,104,1095,0.00,2.42,0.00,0.000,6,0.000,0.037,2313,2153,3888
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1164,begin apogee
$GC,1168,-0.31,0.0,100.5,8.7,110,1251,1.12,0.00,76.10,0.732,6,0.094,0.000,2537,2153,3483
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1254,1.34,97.8,102.3,0.0,117,1336,1.73,0.00,73.90,0.719,6,0.064,0.000,2901,2153,3084
$GC,1524,1.34,97.8,75.9,11.4,139,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2153,3084
$GC,1713,1.34,97.8,54.6,11.2,154,1718,0.00,2.92,0.00,0.000,4,0.000,0.059,2901,738,3083
$GC,1737,1.34,97.8,51.3,12.5,155,1746,0.00,2.80,0.00,0.000,6,0.000,0.030,2901,2153,3083
$GC,1934,1.34,97.8,29.2,10.7,171,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2154,3083
$GC,2128,1.34,97.8,8.8,9.6,194,2135,0.00,2.47,0.00,0.000,4,0.000,0.048,2901,3557,3084
$GC,2214,1.44,188.3,2.9,3.2,207,2270,0.10,2.40,49.08,0.670,6,0.059,0.035,2926,2143,2715
$STATE,2281,end climb,SURFACE_DEPTH_REACHED
$STATE,2281,begin surface coast
$FINISH,0.3,1.016205
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2362,begin surface
$SM_CCo,2380,75.38,0.648,0,0,2055,350.04
$SM_GC,1.17,0.00,0.00,75.38,0.000,0.000,0.648,369,2134,2055,-10.31,-0.45,350.04
$IRIDIUM_FIX,4722.92,-12247.38,210907,050531
$TT8_MAMPS,0.026845
$HUMID,2197
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.5
$ALTIM_BOTTOM_PING,50.7,8.6
$24V_AH,23.9,4.354
$10V_AH,10.2,2.639
$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,25.600,31.100,199.075,75.375,0.000,38.160,34.132,90.412,1.000,0.000,0.000,16.249,422.995,1283.012,377.882,412.976,219.928,33.344,629.810,0.000,403.500,0.000,6.989
$DEVICE_MAMPS,150.332,59.059,731.718,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,230
$CFSIZE,260034560,257273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,024604,4739.528,-12251.032,13,2.4,32,18.3