version: 66.02
glider: 23
mission: 2
dive: 19
start: 9 21 107 6 49 27
data:
$ID,23
$MISSION,2
$DIVE,19
$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,-28946.771
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,064411,4739.233,-12251.503,7,3.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.5
$GPS2,064822,4739.252,-12251.496,14,2.8,33,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,0.109
$KALMAN_X,1330.8,102.6,-65.7,441.3,82.4
$KALMAN_Y,1541.6,67.9,16.4,-2607.3,68.8
$MHEAD_RNG_PITCHd_Wd,35.9,3876,-19.8,-8.333
$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,-97.8,0.0,0.0,0,76,0.00,0.00,-56.35,0.000,2,0.000,0.000,368,2137,3213
$GC,78,-1.34,-97.8,2.2,-4.4,9,122,10.95,2.53,-23.40,0.000,4,0.149,0.060,2314,3557,3884
$GC,371,-1.34,-97.8,27.9,-8.3,47,379,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2153,3887
$GC,567,-1.34,-97.8,43.8,-8.7,63,572,0.00,2.50,0.00,0.000,4,0.000,0.048,2314,3563,3888
$GC,823,-1.34,-97.8,66.8,-9.2,82,832,0.00,2.45,0.00,0.000,6,0.000,0.036,2314,2149,3888
$GC,1020,-1.34,-97.8,84.0,-8.7,98,1025,0.00,2.50,0.00,0.000,4,0.000,0.050,2314,3560,3888
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1202,-0.31,0.0,100.5,10.1,111,1282,1.10,0.00,76.12,0.735,6,0.095,0.000,2535,2149,3484
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1284,1.34,97.8,102.2,0.0,118,1365,1.75,0.00,73.78,0.726,6,0.064,0.000,2903,2149,3084
$GC,1553,1.34,97.8,75.2,12.0,140,1558,0.00,2.92,0.00,0.000,4,0.000,0.059,2904,738,3083
$GC,1577,1.34,97.8,71.9,12.9,141,1586,0.00,2.80,0.00,0.000,6,0.000,0.029,2903,2153,3084
$GC,1775,1.34,97.8,48.7,11.2,157,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2153,3083
$GC,1964,1.34,97.8,27.5,10.6,172,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2153,3083
$GC,2158,1.34,97.8,7.4,9.1,196,2165,0.00,2.92,0.00,0.000,4,0.000,0.054,2903,728,3083
$GC,2170,1.34,97.8,6.3,8.5,198,2177,0.00,2.83,0.00,0.000,6,0.000,0.032,2903,2153,3083
$GC,2242,1.44,186.1,2.8,3.3,209,2280,0.00,0.00,35.92,0.694,2,0.000,0.000,2903,2152,2808
$STATE,2281,end climb,SURFACE_DEPTH_REACHED
$STATE,2281,begin surface coast
$FINISH,0.4,1.020805
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2383,86.62,0.650,0,0,2056,350.04
$SM_GC,0.98,0.00,0.00,86.62,0.000,0.000,0.650,366,2152,2056,-10.32,0.06,350.04
$IRIDIUM_FIX,4719.74,-12251.79,210907,090942
$TT8_MAMPS,0.026078
$HUMID,2184
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,8.0
$ALTIM_BOTTOM_PING,85.6,8.5
$24V_AH,23.9,4.729
$10V_AH,10.2,2.754
$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,25.375,26.325,185.825,86.625,0.000,38.060,50.064,76.403,1.000,0.000,0.000,35.844,422.770,1297.011,368.139,444.734,220.791,33.360,619.985,0.000,415.191,0.000,7.119
$DEVICE_MAMPS,148.798,59.826,734.786,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,228
$CFSIZE,260034560,257126400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,073155,4739.375,-12251.072,26,1.5,37,18.3