version: 66.02
glider: 23
mission: 2
dive: 15
start: 9 21 107 3 37 26
data:
$ID,23
$MISSION,2
$DIVE,15
$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,-28916.07
$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,24
$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
$GPS1,033239,4739.410,-12251.264,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.2
$GPS2,033621,4739.417,-12251.281,11,1.4,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,-0.130
$KALMAN_X,902.6,113.0,66.9,996.0,39.8
$KALMAN_Y,1068.1,131.8,35.0,-1911.5,68.9
$MHEAD_RNG_PITCHd_Wd,207.6,1183,-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,-97.8,0.0,0.0,0,70,0.00,0.00,-50.38,0.000,2,0.000,0.000,365,2154,3088
$GC,72,-1.34,-97.8,2.1,-3.8,8,122,10.98,2.90,-29.67,0.000,4,0.149,0.058,2314,734,3884
$GC,306,-1.34,-97.8,21.0,-8.2,44,310,0.00,2.78,0.00,0.000,6,0.000,0.031,2314,2154,3886
$GC,508,-1.34,-97.8,37.2,-7.9,60,512,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3556,3888
$GC,684,-1.34,-97.8,54.1,-9.5,73,693,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2155,3889
$GC,881,-1.34,-97.8,71.4,-8.9,89,885,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3554,3889
$GC,973,-1.34,-97.8,79.8,-9.5,96,977,0.00,2.42,0.00,0.000,6,0.000,0.036,2314,2150,3889
$GC,1175,-1.34,-97.8,96.9,-8.6,112,1179,0.00,2.50,0.00,0.000,4,0.000,0.050,2314,3560,3889
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1219,-0.31,0.0,100.4,9.3,115,1300,1.12,0.00,76.00,0.736,6,0.094,0.000,2537,2138,3484
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1302,1.34,97.8,102.7,0.0,122,1384,1.73,0.00,74.05,0.719,6,0.064,0.000,2900,2138,3084
$GC,1572,1.34,97.8,76.2,11.5,144,1576,0.00,2.90,0.00,0.000,4,0.000,0.059,2900,741,3083
$GC,1590,1.34,97.8,73.8,11.8,145,1598,0.00,2.80,0.00,0.000,6,0.000,0.030,2900,2155,3083
$GC,1788,1.34,97.8,51.6,10.9,161,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2155,3083
$GC,1976,1.34,97.8,30.8,11.4,176,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2155,3083
$GC,2170,1.34,97.8,9.6,10.5,198,2176,0.00,2.92,0.00,0.000,4,0.000,0.056,2900,735,3084
$GC,2195,1.34,97.8,6.9,10.9,202,2202,0.00,2.80,0.00,0.000,6,0.000,0.032,2900,2147,3083
$GC,2267,1.46,202.7,3.2,2.3,213,2335,0.12,3.00,57.03,0.665,4,0.051,0.051,2932,735,2656
$STATE,2339,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,0.3,1.020607
$STATE,2400,end surface coast,CONTROL_FINISHED_OK
$STATE,2400,begin surface
$SM_CCo,2421,68.55,0.644,0,0,2056,350.04
$SM_GC,1.15,0.00,0.00,68.55,0.000,0.000,0.644,368,2153,2056,-10.31,0.08,350.04
$IRIDIUM_FIX,4719.74,-12301.57,210907,060625
$TT8_MAMPS,0.026845
$HUMID,2188
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,7.8
$ALTIM_BOTTOM_PING,85.2,999.0
$24V_AH,23.9,4.479
$10V_AH,10.2,2.676
$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,25.650,37.725,207.075,68.550,0.000,37.576,37.490,83.842,1.750,0.000,0.000,13.105,427.386,1318.396,378.851,404.688,214.585,33.356,628.624,0.000,396.889,0.000,11.499
$DEVICE_MAMPS,148.798,59.059,735.553,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,234
$CFSIZE,260034560,257224704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,041945,4739.285,-12251.519,9,2.0,9,18.3