version: 66.02
glider: 23
mission: 2
dive: 14
start: 9 21 107 2 50 49
data:
$ID,23
$MISSION,2
$DIVE,14
$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,-28921.133
$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,25
$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
$GPS1,024604,4739.528,-12251.032,13,2.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.4
$GPS2,024944,4739.532,-12251.046,13,1.2,13,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,-0.119
$KALMAN_X,815.5,115.8,101.8,1338.4,26.4
$KALMAN_Y,956.3,159.3,51.8,-1629.0,22.6
$MHEAD_RNG_PITCHd_Wd,212.0,1546,-19.8,-8.333
$D_GRID,119
$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,-56.38,0.000,2,0.000,0.000,369,2134,3231
$GC,78,-1.34,-97.8,2.3,-5.1,9,116,10.95,2.90,-20.90,0.000,4,0.150,0.059,2312,731,3885
$GC,306,-1.34,-97.8,21.4,-8.1,43,314,0.00,2.80,0.00,0.000,6,0.000,0.029,2312,2156,3887
$GC,504,-1.34,-97.8,37.4,-8.2,59,508,0.00,2.45,0.00,0.000,4,0.000,0.049,2312,3559,3888
$GC,656,-1.34,-97.8,52.2,-9.5,70,660,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2155,3889
$GC,850,-1.34,-97.8,70.2,-9.2,85,854,0.00,2.47,0.00,0.000,4,0.000,0.049,2312,3552,3889
$GC,907,-1.34,-97.8,75.9,-9.7,89,916,0.00,2.45,0.00,0.000,6,0.000,0.036,2312,2148,3888
$GC,1104,-1.34,-97.8,94.5,-9.5,105,1109,0.00,2.50,0.00,0.000,4,0.000,0.050,2312,3559,3889
$STATE,1161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1161,begin apogee
$GC,1167,-0.31,0.0,100.1,9.5,109,1247,1.12,0.00,76.18,0.733,6,0.095,0.000,2537,2139,3484
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1249,1.34,97.8,102.1,0.0,116,1331,1.70,3.00,73.80,0.720,4,0.059,0.058,2900,742,3085
$GC,1369,1.34,97.8,92.4,11.5,126,1374,0.00,2.80,0.00,0.000,6,0.000,0.031,2900,2149,3085
$GC,1573,1.34,97.8,69.8,11.6,142,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,3084
$GC,1761,1.34,97.8,48.4,11.2,157,1766,0.00,2.92,0.00,0.000,4,0.000,0.056,2900,730,3084
$GC,1780,1.34,97.8,46.1,11.8,158,1785,0.00,2.83,0.00,0.000,6,0.000,0.031,2900,2155,3084
$GC,1982,1.34,97.8,23.4,11.1,174,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2154,3084
$GC,2179,1.39,143.3,4.2,5.7,201,2215,0.00,0.00,30.23,0.683,6,0.000,0.000,2900,2153,2899
$STATE,2239,end climb,SURFACE_DEPTH_REACHED
$STATE,2239,begin surface coast
$FINISH,0.4,1.020703
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2358,102.72,0.650,0,0,2056,350.04
$SM_GC,0.89,0.00,0.00,102.72,0.000,0.000,0.650,365,2154,2056,-10.33,0.11,350.04
$IRIDIUM_FIX,4722.92,-12249.11,210907,060616
$TT8_MAMPS,0.026845
$HUMID,2178
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.0
$ALTIM_BOTTOM_PING,50.3,7.6
$24V_AH,23.9,4.417
$10V_AH,10.2,2.658
$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,25.350,32.000,180.200,102.725,0.000,38.744,38.572,76.636,0.750,0.000,0.000,15.398,425.347,1302.168,373.588,401.927,209.677,33.352,615.500,0.000,392.098,0.000,7.483
$DEVICE_MAMPS,149.565,59.059,733.252,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,226
$CFSIZE,260034560,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,033239,4739.410,-12251.264,9,1.7,9,18.3