version: 66.02
glider: 23
mission: 2
dive: 16
start: 9 21 107 4 24 25
data:
$ID,23
$MISSION,2
$DIVE,16
$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,-28914.553
$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,23
$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
$GPS1,041945,4739.285,-12251.519,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.3
$GPS2,042320,4739.295,-12251.533,15,1.8,15,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,-0.134
$KALMAN_X,933.6,118.3,41.1,672.4,15.6
$KALMAN_Y,1157.0,121.8,41.1,-2221.8,44.8
$MHEAD_RNG_PITCHd_Wd,205.8,798,-19.8,-8.333
$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,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,-56.47,0.000,2,0.000,0.000,368,2153,3227
$GC,78,-1.34,-97.8,2.2,-4.4,9,121,10.88,2.95,-22.08,0.000,4,0.146,0.058,2312,726,3884
$GC,326,-1.34,-97.8,23.5,-8.3,44,330,0.00,2.80,0.00,0.000,6,0.000,0.031,2312,2156,3887
$GC,528,-1.34,-97.8,39.8,-8.2,60,532,0.00,2.45,0.00,0.000,4,0.000,0.049,2312,3562,3887
$GC,672,-1.34,-97.8,53.2,-9.4,71,677,0.00,2.42,0.00,0.000,6,0.000,0.035,2312,2156,3888
$GC,877,-1.34,-97.8,70.3,-8.3,87,881,0.00,2.45,0.00,0.000,4,0.000,0.049,2312,3558,3888
$GC,940,-1.34,-97.8,76.4,-9.3,91,949,0.00,2.45,0.00,0.000,6,0.000,0.035,2312,2148,3888
$GC,1137,-1.34,-97.8,93.4,-8.6,107,1141,0.00,2.50,0.00,0.000,4,0.000,0.050,2312,3560,3888
$GC,1189,-1.34,-97.8,98.1,-9.3,111,1194,0.00,2.42,0.00,0.000,6,0.000,0.037,2312,2153,3888
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1217,-0.31,0.0,100.4,9.2,113,1300,1.15,0.00,76.25,0.735,6,0.094,0.000,2541,2153,3483
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1303,1.34,97.8,102.1,0.0,120,1385,1.70,0.00,73.47,0.726,6,0.065,0.000,2899,2153,3086
$GC,1572,1.34,97.8,76.3,11.3,142,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2153,3085
$GC,1762,1.34,97.8,55.1,10.9,157,1767,0.00,2.95,0.00,0.000,4,0.000,0.058,2899,731,3085
$GC,1786,1.34,97.8,52.1,11.7,158,1794,0.00,2.83,0.00,0.000,6,0.000,0.030,2899,2157,3085
$GC,1983,1.34,97.8,31.0,10.9,174,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2156,3085
$GC,2176,1.34,97.8,10.2,10.9,195,2184,0.00,2.95,0.00,0.000,4,0.000,0.057,2899,727,3085
$GC,2197,1.34,97.8,8.1,10.9,198,2203,0.00,2.80,0.00,0.000,6,0.000,0.033,2899,2155,3085
$GC,2268,1.40,155.2,3.2,5.1,209,2305,0.00,0.00,32.42,0.670,6,0.000,0.000,2899,2156,2851
$STATE,2316,end climb,SURFACE_DEPTH_REACHED
$STATE,2316,begin surface coast
$FINISH,0.3,1.020597
$STATE,2416,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2434,93.93,0.650,0,0,2057,350.04
$SM_GC,1.02,0.00,0.00,93.93,0.000,0.000,0.650,368,2154,2057,-10.31,0.11,350.04
$IRIDIUM_FIX,4722.92,-12251.79,210907,070753
$TT8_MAMPS,0.026845
$HUMID,2180
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,70.3,8.5
$24V_AH,23.9,4.541
$10V_AH,10.2,2.695
$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,25.275,31.975,182.150,93.925,0.000,37.500,30.377,79.528,1.500,0.000,0.000,16.698,433.508,1348.747,381.370,408.591,203.204,33.350,631.875,0.000,399.195,0.000,8.520
$DEVICE_MAMPS,145.730,58.292,734.786,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,232
$CFSIZE,260034560,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,050757,4739.151,-12251.726,23,2.2,42,18.3