version: 66.02
glider: 23
mission: 2
dive: 5
start: 9 20 107 19 54 56
data:
$ID,23
$MISSION,2
$DIVE,5
$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,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,-28893.146
$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,24
$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
$GPS1,194929,4739.270,-12252.300,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.4
$GPS2,195350,4739.295,-12252.256,33,1.8,33,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,-0.213
$KALMAN_X,-21.6,-51.9,-47.5,983.6,14.8
$KALMAN_Y,164.1,102.9,73.3,-1241.7,33.1
$MHEAD_RNG_PITCHd_Wd,134.9,633,-18.9,-10.101
$D_GRID,125
$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,17,-1.34,-146.6,0.0,0.0,0,81,0.00,0.00,-61.60,0.000,2,0.000,0.000,367,2137,3297
$GC,83,-1.34,-146.6,2.1,-4.0,10,127,10.90,2.47,-23.98,0.000,4,0.147,0.058,2314,3565,3996
$GC,375,-1.34,-146.6,30.0,-10.4,47,384,0.00,2.45,0.00,0.000,6,0.000,0.035,2314,2150,3998
$GC,572,-1.34,-146.6,49.8,-10.7,63,578,0.00,2.50,0.00,0.000,4,0.000,0.048,2314,3565,3999
$GC,828,-1.34,-146.6,77.8,-11.0,82,837,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2149,3999
$STATE,1049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1049,begin apogee
$GC,1052,-0.31,0.0,101.0,10.3,100,1152,1.12,0.00,96.60,0.737,6,0.091,0.000,2539,2149,3484
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1155,1.34,146.6,103.5,0.0,108,1277,1.67,3.03,109.60,0.721,4,0.065,0.061,2895,734,2885
$GC,1282,1.34,146.6,93.3,12.6,118,1290,0.00,2.83,0.00,0.000,6,0.000,0.029,2895,2158,2885
$GC,1604,1.34,146.6,52.7,12.4,144,1609,0.00,2.97,0.00,0.000,4,0.000,0.059,2895,734,2885
$GC,1648,1.34,146.6,46.6,13.7,147,1657,0.00,2.80,0.00,0.000,6,0.000,0.030,2895,2156,2885
$GC,1845,1.34,146.6,22.9,11.7,163,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2158,2885
$GC,2043,1.39,190.5,2.4,8.1,191,2057,0.00,0.00,11.90,0.693,2,0.000,0.000,2895,2157,2801
$STATE,2057,end climb,SURFACE_DEPTH_REACHED
$STATE,2057,begin surface coast
$FINISH,0.3,1.020437
$STATE,2089,end surface coast,CONTROL_FINISHED_OK
$STATE,2089,begin surface
$SM_CCo,2106,86.05,0.653,0,0,2056,350.29
$SM_GC,1.08,0.00,0.00,86.05,0.000,0.000,0.653,366,2158,2056,-10.32,0.23,350.29
$IRIDIUM_FIX,4722.92,-12256.21,200907,232313
$TT8_MAMPS,0.026845
$HUMID,2187
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.6
$ALTIM_BOTTOM_PING,90.4,36.3
$24V_AH,23.9,3.828
$10V_AH,10.2,2.485
$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,25.100,21.500,218.100,86.050,0.000,37.121,34.220,102.824,1.750,0.000,0.000,35.466,363.755,1109.110,390.014,397.538,226.739,33.315,623.115,0.000,365.283,0.000,11.690
$DEVICE_MAMPS,147.264,60.593,737.087,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6470,198
$CFSIZE,260034560,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,203237,4739.073,-12252.104,28,1.4,28,18.3