version: 66.02
glider: 23
mission: 2
dive: 23
start: 9 21 107 9 54 49
data:
$ID,23
$MISSION,2
$DIVE,23
$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,-28951.926
$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,21
$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
$GPS1,094950,4739.758,-12249.909,12,1.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.9
$GPS2,095344,4739.752,-12249.885,11,1.9,28,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.029,0.184
$KALMAN_X,2038.0,118.7,27.7,1636.8,166.7
$KALMAN_Y,1226.3,21.5,30.7,-1326.5,-105.4
$MHEAD_RNG_PITCHd_Wd,350.5,1770,-19.8,-8.333
$D_GRID,88
$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,-97.8,0.0,0.0,0,70,0.00,0.00,-50.45,0.000,2,0.000,0.000,369,2136,3087
$GC,72,-1.34,-97.8,2.0,-2.7,8,122,10.93,2.55,-28.45,0.000,4,0.148,0.058,2312,3576,3884
$GC,372,-1.34,-97.8,31.4,-9.2,45,376,0.00,2.45,0.00,0.000,6,0.000,0.035,2312,2152,3887
$GC,574,-1.34,-97.8,47.7,-7.9,61,578,0.00,2.88,0.00,0.000,4,0.000,0.052,2312,727,3887
$GC,830,-1.34,-97.8,69.6,-8.4,80,844,0.00,2.80,0.00,0.000,6,0.000,0.029,2312,2151,3887
$GC,1027,-1.34,-97.8,84.5,-8.1,96,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2151,3887
$STATE,1215,end dive,NO_VERTICAL_VELOCITY
$STATE,1216,begin apogee
$GC,1219,-0.31,0.0,85.9,0.0,111,1302,1.10,0.00,75.90,0.723,6,0.074,0.000,2541,2151,3483
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1304,1.34,97.8,85.8,0.0,118,1389,1.67,2.55,73.53,0.710,4,0.067,0.046,2896,3560,3084
$GC,1640,1.34,97.8,50.0,12.3,144,1644,0.00,2.45,0.00,0.000,6,0.000,0.038,2896,2156,3084
$GC,1841,1.34,97.8,26.2,11.7,160,1846,0.00,2.92,0.00,0.000,4,0.000,0.059,2896,735,3084
$GC,1914,1.34,97.8,17.7,11.7,166,1921,0.00,2.80,0.00,0.000,6,0.000,0.031,2896,2156,3084
$GC,1986,1.34,97.8,10.4,9.6,177,1994,0.00,2.47,0.00,0.000,4,0.000,0.048,2895,3564,3084
$GC,2066,1.38,132.2,4.0,6.4,189,2097,0.00,2.42,24.60,0.679,6,0.000,0.035,2896,2142,2943
$STATE,2114,end climb,SURFACE_DEPTH_REACHED
$STATE,2115,begin surface coast
$FINISH,0.4,1.021012
$STATE,2162,end surface coast,CONTROL_FINISHED_OK
$STATE,2162,begin surface
$SM_CCo,2180,106.20,0.645,0,0,2057,350.04
$SM_GC,1.11,0.00,0.00,106.20,0.000,0.000,0.645,365,2133,2057,-10.33,-0.48,350.04
$IRIDIUM_FIX,4722.92,-12246.42,210907,131345
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,8.0
$ALTIM_BOTTOM_PING,70.1,20.9
$24V_AH,23.9,4.983
$10V_AH,10.2,2.833
$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,25.200,26.300,174.025,106.200,0.000,37.148,35.599,80.693,1.250,0.000,0.000,29.945,388.496,1156.160,373.192,428.307,206.784,33.347,623.888,0.000,402.692,0.000,8.570
$DEVICE_MAMPS,148.031,59.059,723.281,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,204
$CFSIZE,260034560,257032192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,103350,4739.815,-12249.705,8,1.7,14,18.3