version: 66.02
glider: 23
mission: 2
dive: 18
start: 9 21 107 6 1 28
data:
$ID,23
$MISSION,2
$DIVE,18
$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,-28929.393
$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,28
$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
$GPS1,055628,4739.036,-12251.914,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.2
$GPS2,060023,4739.049,-12251.916,10,2.1,29,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,0.103
$KALMAN_X,1153.5,110.4,-37.3,59.4,32.5
$KALMAN_Y,1394.0,84.2,22.7,-2859.6,53.2
$MHEAD_RNG_PITCHd_Wd,38.2,4522,-19.8,-8.333
$D_GRID,127
$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,-56.28,0.000,2,0.000,0.000,366,2153,3228
$GC,78,-1.34,-97.8,2.2,-4.4,9,121,10.95,2.53,-22.30,0.000,4,0.148,0.060,2314,3570,3884
$GC,345,-1.34,-97.8,26.9,-8.9,44,352,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2154,3888
$GC,540,-1.34,-97.8,43.1,-8.6,60,545,0.00,2.47,0.00,0.000,4,0.000,0.048,2314,3555,3889
$GC,620,-1.34,-97.8,49.9,-8.5,66,625,0.00,2.40,0.00,0.000,6,0.000,0.035,2314,2148,3889
$GC,821,-1.34,-97.8,66.9,-8.2,82,826,0.00,2.47,0.00,0.000,4,0.000,0.048,2314,3571,3889
$GC,873,-1.34,-97.8,71.5,-9.1,86,878,0.00,2.42,0.00,0.000,6,0.000,0.036,2314,2153,3889
$GC,1075,-1.34,-97.8,88.4,-8.2,102,1079,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3558,3889
$GC,1199,-1.34,-97.8,99.6,-8.7,111,1207,0.00,2.42,0.00,0.000,6,0.000,0.037,2314,2151,3889
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1221,-0.31,0.0,101.3,8.7,113,1304,1.12,0.00,76.12,0.737,6,0.092,0.000,2539,2151,3483
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1307,1.34,97.8,103.0,0.0,120,1389,1.73,0.00,73.93,0.720,6,0.065,0.000,2902,2151,3084
$GC,1577,1.34,97.8,76.0,11.9,142,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2151,3083
$GC,1766,1.34,97.8,54.4,11.1,157,1771,0.00,2.92,0.00,0.000,4,0.000,0.061,2902,738,3083
$GC,1800,1.34,97.8,50.6,11.8,159,1804,0.00,2.78,0.00,0.000,6,0.000,0.031,2902,2156,3083
$GC,1994,1.34,97.8,28.5,11.2,174,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2155,3083
$GC,2188,1.34,97.8,7.9,9.9,197,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2154,3083
$GC,2254,1.40,156.4,3.3,5.0,207,2292,0.00,2.55,32.95,0.668,4,0.000,0.049,2902,3567,2845
$STATE,2296,end climb,SURFACE_DEPTH_REACHED
$STATE,2296,begin surface coast
$FINISH,0.3,1.020823
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2404,91.47,0.649,0,0,2057,350.04
$SM_GC,1.03,0.00,0.00,91.47,0.000,0.000,0.649,368,2136,2057,-10.31,-0.40,350.04
$IRIDIUM_FIX,4722.92,-12253.53,210907,090911
$TT8_MAMPS,0.026845
$HUMID,2177
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,8.5
$ALTIM_BOTTOM_PING,70.4,8.4
$24V_AH,23.9,4.667
$10V_AH,10.2,2.734
$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,25.375,30.325,183.000,91.475,0.000,37.414,37.106,78.136,1.250,0.000,0.000,32.087,428.490,1335.658,372.909,417.829,207.757,33.355,615.503,0.000,392.301,0.000,8.517
$DEVICE_MAMPS,148.031,60.593,737.087,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6437,227
$CFSIZE,260034560,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,064411,4739.233,-12251.503,7,3.3,26,18.3