version: 66.02
glider: 23
mission: 2
dive: 7
start: 9 20 107 21 19 26
data:
$ID,23
$MISSION,2
$DIVE,7
$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,-28908.758
$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,18
$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
$GPS1,211433,4739.232,-12251.600,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.9
$GPS2,211820,4739.249,-12251.565,15,1.5,32,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,0.151
$KALMAN_X,126.7,-1.1,-22.8,1617.8,61.4
$KALMAN_Y,222.0,128.6,61.0,-1399.7,10.8
$MHEAD_RNG_PITCHd_Wd,32.5,3950,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-56.22,0.000,2,0.000,0.000,368,2146,3201
$GC,78,-1.34,-146.6,2.1,-4.3,9,128,10.95,2.92,-28.17,0.000,4,0.149,0.064,2312,738,3996
$GC,239,-1.34,-146.6,17.7,-10.5,34,246,0.00,2.80,0.00,0.000,6,0.000,0.030,2312,2158,3997
$GC,315,-1.34,-146.6,25.5,-10.3,42,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2157,3998
$GC,505,-1.34,-146.6,43.7,-9.5,57,509,0.00,2.45,0.00,0.000,4,0.000,0.048,2312,3572,3999
$GC,668,-1.34,-146.6,61.3,-10.5,69,673,0.00,2.45,0.00,0.000,6,0.000,0.038,2312,2150,3999
$GC,997,-1.34,-146.6,95.8,-9.9,95,1001,0.00,2.45,0.00,0.000,4,0.000,0.049,2312,3556,3999
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1046,-0.31,0.0,100.5,10.1,98,1149,1.10,0.00,96.53,0.741,6,0.094,0.000,2534,2150,3484
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1151,1.34,146.6,102.8,0.0,107,1271,1.75,2.97,110.30,0.718,4,0.066,0.060,2901,740,2884
$GC,1315,1.34,146.6,87.0,13.6,120,1323,0.00,2.80,0.00,0.000,6,0.000,0.029,2901,2152,2885
$GC,1638,1.34,146.6,45.5,13.1,146,1642,0.00,2.92,0.00,0.000,4,0.000,0.058,2901,741,2885
$GC,1669,1.34,146.6,41.0,13.9,148,1677,0.00,2.80,0.00,0.000,6,0.000,0.030,2901,2156,2885
$GC,1866,1.34,146.6,17.2,11.5,165,1873,0.00,2.95,0.00,0.000,4,0.000,0.058,2901,729,2884
$GC,1891,1.34,146.6,13.7,14.2,169,1899,0.00,2.80,0.00,0.000,6,0.000,0.031,2901,2146,2884
$GC,1964,1.34,146.6,5.2,10.6,180,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2150,2885
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,0.3,1.003086
$STATE,2062,end surface coast,CONTROL_FINISHED_OK
$STATE,2062,begin surface
$SM_CCo,2079,97.97,0.660,0,0,2057,350.04
$SM_GC,0.98,0.00,0.00,97.97,0.000,0.000,0.660,364,2147,2057,-10.33,-0.06,350.04
$IRIDIUM_FIX,4722.92,-12257.95,210907,000058
$TT8_MAMPS,0.026845
$HUMID,2185
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.4,7.9
$ALTIM_BOTTOM_PING,70.8,8.6
$24V_AH,23.9,3.966
$10V_AH,10.2,2.521
$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,25.275,32.775,206.825,97.975,0.000,40.067,31.640,72.561,1.250,0.000,0.000,33.641,365.101,1096.303,407.793,373.434,196.085,33.324,634.384,0.000,345.022,0.000,11.329
$DEVICE_MAMPS,148.798,63.661,740.922,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,129.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,195
$CFSIZE,260034560,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,215653,4739.420,-12251.133,8,2.4,27,18.3