version: 66.02
glider: 23
mission: 2
dive: 21
start: 9 21 107 8 23 56
data:
$ID,23
$MISSION,2
$DIVE,21
$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,-28943.234
$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
$GPS1,081859,4739.571,-12250.619,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.5
$GPS2,082251,4739.583,-12250.604,14,1.3,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,0.147
$KALMAN_X,1730.1,100.8,-56.5,1147.6,158.9
$KALMAN_Y,1599.9,49.3,27.2,-2045.3,17.5
$MHEAD_RNG_PITCHd_Wd,19.9,2624,-19.8,-8.333
$D_GRID,106
$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,-56.50,0.000,2,0.000,0.000,365,2148,3213
$GC,78,-1.34,-97.8,2.1,-4.2,9,121,10.93,2.50,-23.85,0.000,4,0.147,0.061,2313,3552,3885
$GC,370,-1.34,-97.8,28.3,-8.9,47,379,0.00,2.45,0.00,0.000,6,0.000,0.034,2313,2143,3887
$GC,567,-1.34,-97.8,45.1,-8.8,63,572,0.00,2.50,0.00,0.000,4,0.000,0.048,2313,3561,3888
$GC,651,-1.34,-97.8,52.9,-9.4,69,659,0.00,2.45,0.00,0.000,6,0.000,0.035,2313,2144,3888
$GC,848,-1.34,-97.8,70.5,-9.2,85,852,0.00,2.50,0.00,0.000,4,0.000,0.049,2313,3563,3888
$GC,953,-1.34,-97.8,80.7,-9.7,93,957,0.00,2.42,0.00,0.000,6,0.000,0.036,2313,2150,3888
$GC,1155,-1.34,-97.8,92.3,-0.0,109,1159,0.00,2.47,0.00,0.000,4,0.000,0.051,2313,3572,3889
$STATE,1251,end dive,NO_VERTICAL_VELOCITY
$STATE,1251,begin apogee
$GC,1258,-0.31,0.0,92.3,0.0,116,1337,1.05,0.00,76.07,0.729,6,0.067,0.000,2538,2137,3484
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1340,1.34,97.8,92.2,0.0,123,1425,1.70,2.97,73.70,0.712,4,0.066,0.058,2898,741,3085
$GC,1641,1.34,97.8,61.0,12.4,146,1649,0.00,2.80,0.00,0.000,6,0.000,0.030,2898,2156,3084
$GC,1837,1.34,97.8,38.4,11.7,162,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2156,3084
$GC,2029,1.34,97.8,18.0,10.3,178,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2156,3084
$GC,2101,1.34,97.8,10.6,10.1,189,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2156,3084
$GC,2171,1.38,136.0,4.9,6.2,200,2209,0.00,2.97,28.08,0.676,4,0.000,0.052,2898,743,2929
$GC,2221,1.47,214.9,2.5,3.8,208,2242,0.15,2.80,14.98,0.670,2,0.051,0.032,2934,2158,2803
$STATE,2243,end climb,SURFACE_DEPTH_REACHED
$STATE,2243,begin surface coast
$FINISH,0.3,1.008743
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2318,85.45,0.644,0,0,2056,350.04
$SM_GC,0.97,0.00,0.00,85.45,0.000,0.000,0.644,366,2158,2056,-10.32,0.23,350.04
$IRIDIUM_FIX,4719.74,-12254.47,210907,111113
$TT8_MAMPS,0.026845
$HUMID,2182
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.5,7.7
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,23.9,4.854
$10V_AH,10.2,2.793
$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,25.525,31.325,192.825,85.450,0.000,40.752,39.738,85.766,1.250,0.000,0.000,15.991,410.218,1233.689,376.942,427.204,220.501,33.350,636.874,0.000,415.077,0.000,6.988
$DEVICE_MAMPS,147.264,61.360,728.650,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,220
$CFSIZE,260034560,257081344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,090508,4739.730,-12250.221,27,1.2,27,18.3