version: 66.02
glider: 23
mission: 2
dive: 9
start: 9 20 107 22 55 31
data:
$ID,23
$MISSION,2
$DIVE,9
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-28918.277
$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,29
$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
$GPS1,225044,4739.635,-12250.744,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.7
$GPS2,225426,4739.646,-12250.748,12,1.4,29,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,0.133
$KALMAN_X,375.2,37.7,28.6,2302.8,152.2
$KALMAN_Y,328.2,151.4,27.2,-760.0,17.4
$MHEAD_RNG_PITCHd_Wd,26.0,2694,-19.8,-8.333
$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,-97.8,0.0,0.0,0,76,0.00,0.00,-56.45,0.000,2,0.000,0.000,364,2153,3221
$GC,78,-1.34,-97.8,2.2,-4.3,9,121,10.93,2.50,-22.88,0.000,4,0.147,0.060,2315,3558,3885
$GC,252,-1.34,-97.8,17.4,-9.2,36,260,0.00,2.42,0.00,0.000,6,0.000,0.034,2315,2154,3887
$GC,323,-1.34,-97.8,23.5,-8.2,44,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2154,3887
$GC,512,-1.34,-97.8,39.8,-8.4,59,516,0.00,2.45,0.00,0.000,4,0.000,0.048,2315,3564,3888
$GC,622,-1.34,-97.8,49.8,-8.8,67,633,0.00,2.45,0.00,0.000,6,0.000,0.035,2315,2149,3888
$GC,819,-1.34,-97.8,66.3,-8.9,83,823,0.00,2.47,0.00,0.000,4,0.000,0.048,2315,3551,3888
$GC,863,-1.34,-97.8,70.6,-9.9,86,872,0.00,2.45,0.00,0.000,6,0.000,0.035,2315,2143,3888
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1188,-0.31,0.0,100.1,8.6,112,1272,1.12,0.00,75.43,0.746,6,0.093,0.000,2539,2143,3484
$STATE,1273,end apogee,CONTROL_FINISHED_OK
$STATE,1273,begin climb
$GC,1274,1.34,97.8,101.6,0.0,119,1360,1.70,3.00,73.28,0.724,4,0.067,0.058,2900,740,3085
$GC,1398,1.34,97.8,91.3,11.5,129,1403,0.00,2.80,0.00,0.000,6,0.000,0.030,2901,2148,3085
$GC,1726,1.34,97.8,54.7,10.8,155,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,3084
$GC,2042,1.34,97.8,20.6,10.7,180,2046,0.00,2.47,0.00,0.000,4,0.000,0.047,2900,3554,3084
$GC,2087,1.34,97.8,15.8,10.5,186,2095,0.00,2.45,0.00,0.000,6,0.000,0.038,2900,2153,3084
$GC,2160,1.34,97.8,8.7,9.1,197,2166,0.00,2.90,0.00,0.000,4,0.000,0.058,2900,735,3083
$GC,2191,1.34,97.8,5.7,9.3,202,2199,0.00,2.80,0.00,0.000,6,0.000,0.032,2900,2154,3084
$GC,2264,1.47,215.2,2.9,1.6,213,2314,0.12,0.00,47.75,0.673,2,0.050,0.000,2933,2154,2713
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,0.3,1.014104
$STATE,2393,end surface coast,CONTROL_FINISHED_OK
$STATE,2393,begin surface
$SM_CCo,2411,74.95,0.652,0,0,2057,350.04
$SM_GC,1.23,0.00,0.00,74.95,0.000,0.000,0.652,364,2153,2057,-10.33,0.08,350.04
$IRIDIUM_FIX,4722.92,-12251.79,210907,020247
$TT8_MAMPS,0.026845
$HUMID,2193
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,10.7
$ALTIM_BOTTOM_PING,50.3,8.7
$24V_AH,23.9,4.101
$10V_AH,10.2,2.563
$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,25.575,31.175,196.450,74.950,0.000,40.293,32.511,67.318,1.250,0.000,0.000,30.798,419.669,1338.979,369.758,416.228,195.174,33.336,623.611,0.000,390.600,0.000,7.010
$DEVICE_MAMPS,147.264,59.826,745.524,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,233
$CFSIZE,260034560,257372160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,233808,4739.825,-12250.367,30,0.8,30,18.3