version: 66.02
glider: 23
mission: 2
dive: 45
start: 9 22 107 4 7 54
data:
$ID,23
$MISSION,2
$DIVE,45
$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,-28909.805
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$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
$GPS1,035514,4740.066,-12251.919,7,1.1,12,18.3
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.5
$GPS2,040650,4740.077,-12251.958,12,1.1,17,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,W1
$TGT_LATLONG,4740.869,-12251.195
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,0.158
$KALMAN_X,4052.5,15.9,132.8,-2966.4,-28.1
$KALMAN_Y,1766.2,196.8,-20.5,-1395.6,-51.6
$MHEAD_RNG_PITCHd_Wd,14.1,1749,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,83,0.00,0.00,-62.33,0.000,2,0.000,0.000,368,2145,3301
$GC,85,-1.34,-97.8,2.0,-4.5,10,123,10.82,2.55,-20.62,0.000,4,0.146,0.059,2311,3571,3884
$GC,248,-1.34,-97.8,16.3,-7.7,35,255,0.00,2.42,0.00,0.000,6,0.000,0.033,2311,2142,3886
$GC,319,-1.34,-97.8,21.0,-7.0,45,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2142,3886
$GC,510,-1.34,-97.8,34.3,-7.1,60,515,0.00,2.50,0.00,0.000,4,0.000,0.049,2311,3568,3888
$GC,693,-1.34,-97.8,49.3,-8.3,73,701,0.00,2.45,0.00,0.000,6,0.000,0.035,2311,2150,3888
$GC,889,-1.34,-97.8,65.3,-8.5,89,894,0.00,2.50,0.00,0.000,4,0.000,0.050,2311,3567,3889
$GC,1034,-1.34,-97.8,77.5,-8.6,100,1039,0.00,2.42,0.00,0.000,6,0.000,0.036,2311,2150,3889
$GC,1237,-1.34,-97.8,93.9,-8.3,116,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2151,3888
$STATE,1312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1312,begin apogee
$GC,1316,-0.31,0.0,100.5,9.0,122,1398,1.12,0.00,76.38,0.729,6,0.093,0.000,2536,2031,3484
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1400,1.34,97.8,102.3,0.0,129,1482,1.73,0.00,74.55,0.713,6,0.064,0.000,2900,2031,3084
$GC,1670,1.34,97.8,74.5,12.1,151,1675,0.00,2.88,0.00,0.000,4,0.000,0.061,2901,653,3083
$GC,1709,1.34,97.8,69.4,13.5,153,1716,0.00,2.75,0.00,0.000,6,0.000,0.030,2900,2053,3083
$GC,1904,1.34,97.8,46.1,12.1,169,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2053,3083
$GC,2094,1.34,97.8,24.9,11.0,184,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2053,3083
$GC,2289,1.38,134.9,4.5,6.2,210,2321,0.00,2.55,27.20,0.667,4,0.000,0.048,2900,3455,2933
$STATE,2345,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,0.2,1.010632
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2406,101.15,0.637,0,0,2055,350.04
$SM_GC,0.97,0.00,0.00,101.15,0.000,0.000,0.637,365,2158,2055,-10.33,0.23,350.04
$IRIDIUM_FIX,4726.11,-12253.53,220907,070756
$TT8_MAMPS,0.026845
$HUMID,2156
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,8.4
$ALTIM_BOTTOM_PING,85.6,23.9
$24V_AH,23.9,6.450
$10V_AH,10.2,3.283
$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,25.200,25.475,178.125,101.150,0.000,114.089,275.105,115.718,1.500,0.000,0.000,18.781,426.174,1470.761,376.285,398.708,562.875,33.347,612.771,0.000,387.821,0.000,7.141
$DEVICE_MAMPS,145.730,60.593,729.417,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6452,225
$CFSIZE,260034560,256487424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,045107,4740.274,-12251.822,38,1.0,44,18.3