version: 66.02
glider: 23
mission: 2
dive: 6
start: 9 20 107 20 37 40
data:
$ID,23
$MISSION,2
$DIVE,6
$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,-28891.387
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,203237,4739.073,-12252.104,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.6
$GPS2,203633,4739.086,-12252.070,13,1.4,13,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.199,0.132
$KALMAN_X,-11.7,-52.0,-38.7,1197.4,13.3
$KALMAN_Y,190.3,115.6,70.0,-1663.7,17.3
$MHEAD_RNG_PITCHd_Wd,38.2,4638,-18.9,-10.101
$D_GRID,127
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.34,-146.6,0.0,0.0,0,75,0.00,0.00,-55.88,0.000,2,0.000,0.000,366,2158,3172
$GC,77,-1.34,-146.6,2.1,-3.8,9,127,10.98,2.95,-29.12,0.000,4,0.150,0.061,2313,731,3995
$GC,185,-1.34,-146.6,12.0,-11.6,26,192,0.00,2.80,0.00,0.000,6,0.000,0.030,2313,2152,3996
$GC,257,-1.34,-146.6,19.6,-10.0,37,264,0.00,2.45,0.00,0.000,4,0.000,0.047,2312,3564,3997
$GC,301,-1.34,-146.6,24.4,-10.8,41,309,0.00,2.45,0.00,0.000,6,0.000,0.035,2313,2151,3997
$GC,499,-1.34,-146.6,44.0,-9.9,57,503,0.00,2.47,0.00,0.000,4,0.000,0.048,2313,3573,3999
$GC,575,-1.34,-146.6,52.6,-11.0,62,584,0.00,2.47,0.00,0.000,6,0.000,0.037,2313,2143,3999
$GC,899,-1.34,-146.6,86.2,-10.3,88,903,0.00,2.47,0.00,0.000,4,0.000,0.048,2313,3564,3999
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1034,-0.31,0.0,100.0,10.3,97,1136,1.10,0.00,96.70,0.736,6,0.093,0.000,2535,2149,3484
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1139,1.34,146.6,102.5,0.0,106,1257,1.75,0.00,110.12,0.724,6,0.065,0.000,2902,2149,2885
$GC,1571,1.34,146.6,51.3,13.1,141,1575,0.00,2.95,0.00,0.000,4,0.000,0.062,2902,731,2884
$GC,1628,1.34,146.6,42.9,14.2,145,1637,0.00,2.80,0.00,0.000,6,0.000,0.030,2902,2151,2884
$GC,1826,1.34,146.6,18.7,11.7,161,1833,0.00,2.92,0.00,0.000,4,0.000,0.058,2902,734,2884
$GC,1851,1.34,146.6,15.4,13.1,165,1858,0.00,2.80,0.00,0.000,6,0.000,0.031,2902,2150,2884
$GC,1923,1.34,146.6,6.8,11.7,176,1930,0.00,2.45,0.00,0.000,4,0.000,0.046,2902,3573,2884
$GC,1942,1.34,146.6,4.8,10.5,179,1949,0.00,2.45,0.00,0.000,6,0.000,0.036,2902,2153,2884
$STATE,1999,end climb,SURFACE_DEPTH_REACHED
$STATE,1999,begin surface coast
$FINISH,0.2,1.000952
$STATE,2047,end surface coast,CONTROL_FINISHED_OK
$STATE,2047,begin surface
$SM_CCo,2065,98.22,0.655,0,0,2056,350.04
$SM_GC,0.95,0.00,0.00,98.22,0.000,0.000,0.655,368,2146,2056,-10.31,-0.11,350.04
$IRIDIUM_FIX,4722.92,-12249.11,200907,232348
$TT8_MAMPS,0.026845
$HUMID,2194
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,8.3
$ALTIM_BOTTOM_PING,90.3,34.5
$24V_AH,23.9,3.898
$10V_AH,10.2,2.504
$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,25.350,36.900,206.825,98.225,0.000,35.035,49.519,88.026,2.000,0.000,0.000,14.889,365.176,1068.821,427.851,346.591,225.549,33.320,647.979,0.000,336.909,0.000,12.092
$DEVICE_MAMPS,150.332,62.127,736.320,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6464,195
$CFSIZE,260034560,257454080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,211433,4739.232,-12251.600,9,2.0,9,18.3