version: 66.02
glider: 23
mission: 2
dive: 20
start: 9 21 107 7 36 32
data:
$ID,23
$MISSION,2
$DIVE,20
$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,-28945.486
$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,30
$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
$GPS1,073155,4739.375,-12251.072,26,1.5,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.9
$GPS2,073527,4739.388,-12251.070,15,1.5,15,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,0.127
$KALMAN_X,1500.8,99.7,-70.0,810.1,114.4
$KALMAN_Y,1545.4,55.9,20.8,-2350.6,47.6
$MHEAD_RNG_PITCHd_Wd,28.8,3303,-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,-56.53,0.000,2,0.000,0.000,366,2153,3215
$GC,78,-1.34,-97.8,2.1,-4.1,9,122,10.95,2.47,-24.42,0.000,4,0.149,0.061,2314,3570,3884
$GC,370,-1.34,-97.8,28.1,-9.3,47,379,0.00,2.47,0.00,0.000,6,0.000,0.034,2314,2138,3887
$GC,567,-1.34,-97.8,45.2,-9.3,63,572,0.00,2.50,0.00,0.000,4,0.000,0.048,2314,3552,3888
$GC,797,-1.34,-97.8,66.9,-9.1,80,805,0.00,2.42,0.00,0.000,6,0.000,0.036,2314,2149,3888
$GC,993,-1.34,-97.8,83.4,-8.5,96,998,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3557,3888
$GC,1118,-1.34,-97.8,94.6,-9.1,105,1126,0.00,2.40,0.00,0.000,6,0.000,0.036,2314,2155,3888
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1190,-0.31,0.0,100.7,8.8,111,1274,1.12,0.00,76.20,0.739,6,0.093,0.000,2539,2155,3483
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1276,1.34,97.8,102.6,0.0,118,1354,1.67,0.00,73.88,0.724,6,0.064,0.000,2897,2154,3085
$GC,1536,1.34,97.8,76.7,12.0,139,1541,0.00,2.92,0.00,0.000,4,0.000,0.059,2897,739,3084
$GC,1568,1.34,97.8,72.6,13.5,141,1574,0.00,2.80,0.00,0.000,6,0.000,0.031,2897,2155,3084
$GC,1770,1.34,97.8,49.0,11.5,157,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2155,3084
$GC,1960,1.34,97.8,28.3,10.7,172,1965,0.00,2.92,0.00,0.000,4,0.000,0.056,2897,737,3083
$GC,1984,1.34,97.8,25.3,11.3,173,1993,0.00,2.80,0.00,0.000,6,0.000,0.032,2897,2149,3084
$GC,2188,1.35,110.1,5.7,7.6,200,2201,0.00,0.00,8.95,0.715,6,0.000,0.000,2897,2147,3035
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,0.3,1.020901
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2356,119.32,0.648,0,0,2056,350.04
$SM_GC,1.12,0.00,0.00,119.32,0.000,0.000,0.648,364,2148,2056,-10.33,-0.08,350.04
$IRIDIUM_FIX,4726.11,-12459.52,210907,101040
$TT8_MAMPS,0.026845
$HUMID,2184
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,7.7
$ALTIM_BOTTOM_PING,85.1,27.7
$24V_AH,23.9,4.791
$10V_AH,10.2,2.774
$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,25.325,26.200,159.025,119.325,0.000,41.361,30.020,69.634,1.250,0.000,0.000,17.112,422.984,1299.903,385.691,412.031,199.405,33.353,626.739,0.000,401.988,0.000,7.145
$DEVICE_MAMPS,148.798,60.593,739.388,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,223
$CFSIZE,260034560,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,081859,4739.571,-12250.619,10,2.2,29,18.3