version: 66.02
glider: 23
mission: 2
dive: 2
start: 9 20 107 17 25 53
data:
$ID,23
$MISSION,2
$DIVE,2
$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,33
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,500
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28843.457
$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,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
$GPS1,172056,4739.735,-12252.964,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.9
$GPS2,172451,4739.738,-12252.965,12,1.6,12,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.168
$KALMAN_X,-38.1,-38.1,-38.1,97.6,-83.9
$KALMAN_Y,20.9,20.9,20.9,-145.2,45.9
$MHEAD_RNG_PITCHd_Wd,116.4,1821,-18.9,-10.101
$D_GRID,120
$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,-146.6,0.0,0.0,0,143,0.00,0.00,-122.12,0.000,2,0.000,0.000,367,2145,3502
$GC,145,-1.34,-146.6,2.2,-4.6,20,177,10.75,2.50,-15.85,0.000,4,0.143,0.057,2315,3563,3995
$GC,315,-1.34,-146.6,17.7,-9.2,46,322,0.00,2.40,0.00,0.000,6,0.000,0.033,2315,2153,3997
$GC,391,-1.34,-146.6,24.6,-9.0,54,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2153,3997
$GC,582,-1.34,-146.6,42.8,-10.2,69,586,0.00,2.45,0.00,0.000,4,0.000,0.048,2315,3575,3998
$GC,711,-1.34,-146.6,57.1,-10.8,78,719,0.00,2.42,0.00,0.000,6,0.000,0.036,2315,2154,3998
$GC,1034,-1.34,-146.6,89.7,-9.6,104,1038,0.00,2.45,0.00,0.000,4,0.000,0.049,2315,3574,3999
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1144,-0.31,0.0,100.5,10.0,112,1243,1.12,0.00,95.47,0.739,6,0.090,0.000,2541,2147,3484
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1246,1.34,146.6,103.1,0.0,120,1361,1.65,0.00,109.10,0.728,6,0.064,0.000,2899,2147,2886
$GC,1675,1.34,146.6,52.6,13.2,155,1679,0.00,2.92,0.00,0.000,4,0.000,0.061,2899,732,2886
$GC,1714,1.34,146.6,47.3,14.2,158,1718,0.00,2.80,0.00,0.000,6,0.000,0.031,2899,2152,2886
$GC,1916,1.34,146.6,22.0,12.7,174,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2153,2886
$STATE,2098,end climb,SURFACE_DEPTH_REACHED
$STATE,2098,begin surface coast
$FINISH,0.3,1.020804
$STATE,2127,end surface coast,CONTROL_FINISHED_OK
$STATE,2127,begin surface
$SM_CCo,2144,168.10,0.646,0,0,1444,500.17
$SM_GC,0.88,0.00,0.00,168.10,0.000,0.000,0.646,367,2152,1444,-10.32,0.06,500.17
$IRIDIUM_FIX,4722.92,-12251.79,200907,212156
$TT8_MAMPS,0.026845
$HUMID,2134
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,8.8
$ALTIM_BOTTOM_PING,86.1,29.8
$24V_AH,23.9,3.589
$10V_AH,10.2,2.421
$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,25.000,20.400,204.575,168.100,0.000,0.000,0.000,0.000,1.500,0.000,0.000,13.540,363.814,1141.075,499.740,350.978,38.298,30.181,719.729,0.000,346.842,0.000,7.148
$DEVICE_MAMPS,142.662,60.593,738.621,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6418,204
$CFSIZE,260034560,257527808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,180535,4739.519,-12252.769,9,4.4,28,18.3