version: 66.02
glider: 23
mission: 2
dive: 3
start: 9 20 107 18 23 37
data:
$ID,23
$MISSION,2
$DIVE,3
$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,400
$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,-28859.068
$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
$GPS1,181832,4739.608,-12252.710,7,1.7,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,182233,4739.636,-12252.690,12,1.1,12,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.140,-0.194
$KALMAN_X,-41.2,-41.0,-40.5,442.4,-33.3
$KALMAN_Y,82.6,58.7,55.4,-468.2,51.3
$MHEAD_RNG_PITCHd_Wd,125.9,1459,-18.9,-10.101
$D_GRID,123
$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,-146.6,0.0,0.0,0,119,0.00,0.00,-98.40,0.000,2,0.000,0.000,368,2153,3434
$GC,121,-1.34,-146.6,2.2,-4.7,16,158,10.80,2.45,-18.65,0.000,4,0.144,0.058,2316,3569,3996
$GC,409,-1.34,-146.6,30.2,-9.9,53,413,0.00,2.42,0.00,0.000,6,0.000,0.035,2315,2149,3998
$GC,613,-1.34,-146.6,50.0,-9.7,69,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2149,3998
$GC,926,-1.34,-146.6,81.7,-10.0,94,930,0.00,2.45,0.00,0.000,4,0.000,0.048,2316,3558,3999
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1108,-0.31,0.0,100.4,9.9,107,1210,1.08,0.00,96.00,0.739,6,0.091,0.000,2534,2140,3484
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1213,1.34,146.6,103.2,0.0,116,1335,1.70,3.00,108.80,0.726,4,0.063,0.060,2897,740,2886
$GC,1347,1.34,146.6,92.7,12.1,127,1351,0.00,2.80,0.00,0.000,6,0.000,0.031,2898,2144,2885
$GC,1675,1.34,146.6,50.9,12.8,153,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2149,2885
$GC,1993,1.34,146.6,11.3,12.9,183,2000,0.00,2.90,0.00,0.000,4,0.000,0.058,2897,739,2885
$GC,2019,1.34,146.6,7.7,14.6,187,2026,0.00,2.78,0.00,0.000,6,0.000,0.031,2897,2159,2885
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2077,begin surface coast
$FINISH,0.9,1.020930
$STATE,2098,end surface coast,CONTROL_FINISHED_OK
$STATE,2098,begin surface
$SM_CCo,2116,125.88,0.648,0,0,1853,400.08
$SM_GC,0.95,0.00,0.00,125.88,0.000,0.000,0.648,367,2159,1853,-10.32,0.25,400.08
$IRIDIUM_FIX,4719.74,-12258.89,200907,222213
$TT8_MAMPS,0.026845
$HUMID,2150
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.6,8.4
$ALTIM_BOTTOM_PING,85.1,33.7
$24V_AH,23.9,3.679
$10V_AH,10.2,2.446
$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,25.200,21.250,204.800,125.875,0.000,0.000,0.000,0.000,2.000,0.000,0.000,13.728,356.259,1134.102,433.587,361.667,36.781,31.415,661.347,0.000,353.879,0.000,7.155
$DEVICE_MAMPS,144.196,59.826,739.388,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,199
$CFSIZE,260034560,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,190150,4739.421,-12252.532,6,1.1,11,18.3