version: 66.02
glider: 23
mission: 2
dive: 17
start: 9 21 107 5 13 1
data:
$ID,23
$MISSION,2
$DIVE,17
$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,-28916.182
$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,18
$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
$GPS1,050757,4739.151,-12251.726,23,2.2,42,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.8
$GPS2,051156,4739.162,-12251.740,12,2.0,18,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.135
$KALMAN_X,1016.2,120.0,6.8,363.2,-1.5
$KALMAN_Y,1254.6,104.2,34.9,-2541.7,34.9
$MHEAD_RNG_PITCHd_Wd,205.5,442,-19.8,-8.333
$D_GRID,124
$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,-56.45,0.000,2,0.000,0.000,368,2154,3221
$GC,78,-1.34,-97.8,2.2,-4.3,9,121,10.93,2.95,-22.85,0.000,4,0.147,0.058,2314,730,3884
$GC,318,-1.34,-97.8,22.1,-8.0,44,326,0.00,2.80,0.00,0.000,6,0.000,0.030,2314,2148,3887
$GC,515,-1.34,-97.8,38.0,-8.4,60,519,0.00,2.45,0.00,0.000,4,0.000,0.049,2314,3557,3888
$GC,592,-1.34,-97.8,45.1,-9.1,65,600,0.00,2.45,0.00,0.000,6,0.000,0.035,2314,2148,3888
$GC,788,-1.34,-97.8,62.1,-8.5,81,793,0.00,2.50,0.00,0.000,4,0.000,0.049,2314,3560,3888
$GC,867,-1.34,-97.8,69.4,-9.3,87,872,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2146,3888
$GC,1069,-1.34,-97.8,87.4,-8.6,103,1074,0.00,2.50,0.00,0.000,4,0.000,0.051,2313,3556,3888
$GC,1153,-1.34,-97.8,95.1,-9.0,109,1162,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2149,3888
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1226,-0.31,0.0,101.0,8.6,115,1310,1.12,0.00,76.05,0.736,6,0.094,0.000,2538,2149,3484
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1312,1.34,97.8,102.9,0.0,122,1394,1.73,0.00,74.20,0.719,6,0.065,0.000,2901,2149,3084
$GC,1582,1.34,97.8,76.8,11.5,144,1586,0.00,2.92,0.00,0.000,4,0.000,0.060,2901,740,3083
$GC,1599,1.34,97.8,74.4,11.8,145,1608,0.00,2.80,0.00,0.000,6,0.000,0.030,2900,2148,3083
$GC,1796,1.34,97.8,51.9,11.4,161,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,3084
$GC,1986,1.34,97.8,31.1,10.6,176,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,3083
$GC,2178,1.34,97.8,10.5,9.8,197,2186,0.00,2.92,0.00,0.000,4,0.000,0.055,2900,727,3084
$GC,2192,1.34,97.8,9.2,9.3,199,2199,0.00,2.83,0.00,0.000,6,0.000,0.031,2900,2154,3084
$GC,2264,1.39,144.3,4.0,5.7,210,2301,0.00,0.00,31.33,0.673,6,0.000,0.000,2900,2153,2894
$STATE,2331,end climb,SURFACE_DEPTH_REACHED
$STATE,2331,begin surface coast
$FINISH,0.4,1.020708
$STATE,2419,end surface coast,CONTROL_FINISHED_OK
$STATE,2419,begin surface
$SM_CCo,2436,101.88,0.650,0,0,2056,350.04
$SM_GC,0.92,0.00,0.00,101.88,0.000,0.000,0.650,366,2153,2056,-10.32,0.11,350.04
$IRIDIUM_FIX,4719.74,-12254.47,210907,080800
$TT8_MAMPS,0.026845
$HUMID,2193
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,8.1
$ALTIM_BOTTOM_PING,70.6,8.5
$24V_AH,23.9,4.605
$10V_AH,10.2,2.715
$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,25.350,32.025,181.575,101.875,0.000,37.603,35.126,90.569,1.250,0.000,0.000,20.053,432.625,1348.152,399.355,405.463,223.891,33.364,646.286,0.000,393.200,0.000,8.523
$DEVICE_MAMPS,147.264,59.826,736.320,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,234
$CFSIZE,260034560,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,055628,4739.036,-12251.914,8,2.2,27,18.3