version: 66.02
glider: 23
mission: 2
dive: 22
start: 9 21 107 9 13 8
data:
$ID,23
$MISSION,2
$DIVE,22
$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,-28939.219
$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,25
$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
$GPS1,090508,4739.730,-12250.221,27,1.2,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.4
$GPS2,091203,4739.737,-12250.179,11,1.3,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.165
$KALMAN_X,1941.5,105.5,-24.9,1430.5,184.0
$KALMAN_Y,1559.7,34.1,23.3,-1698.7,-20.6
$MHEAD_RNG_PITCHd_Wd,9.4,2039,-19.8,-8.333
$D_GRID,102
$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,-56.35,0.000,2,0.000,0.000,367,2158,3204
$GC,78,-1.34,-97.8,2.1,-3.9,9,122,10.90,2.47,-23.75,0.000,4,0.147,0.061,2312,3554,3884
$GC,370,-1.34,-97.8,27.4,-8.5,47,379,0.00,2.42,0.00,0.000,6,0.000,0.033,2313,2155,3887
$GC,567,-1.34,-97.8,43.6,-8.7,63,572,0.00,2.47,0.00,0.000,4,0.000,0.048,2313,3557,3888
$GC,823,-1.34,-97.8,67.9,-9.6,82,832,0.00,2.45,0.00,0.000,6,0.000,0.035,2313,2138,3888
$GC,1020,-1.34,-97.8,76.1,0.3,98,1025,0.00,2.83,0.00,0.000,4,0.000,0.051,2313,738,3889
$STATE,1090,end dive,NO_VERTICAL_VELOCITY
$STATE,1090,begin apogee
$GC,1096,-0.31,0.0,76.2,0.0,103,1176,1.05,0.00,76.05,0.709,6,0.064,0.000,2539,2153,3484
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1178,1.34,97.8,76.1,0.0,110,1264,1.70,2.55,73.43,0.696,4,0.065,0.047,2898,3561,3084
$GC,1514,1.34,97.8,44.0,11.0,136,1518,0.00,2.45,0.00,0.000,6,0.000,0.038,2898,2156,3083
$GC,1716,1.34,97.8,22.2,10.3,152,1720,0.00,2.92,0.00,0.000,4,0.000,0.058,2898,732,3083
$GC,1748,1.34,97.8,18.5,11.6,155,1755,0.00,2.80,0.00,0.000,6,0.000,0.031,2898,2147,3083
$GC,1820,1.34,97.8,11.1,9.8,166,1827,0.00,2.47,0.00,0.000,4,0.000,0.048,2898,3556,3083
$GC,1865,1.34,97.8,6.8,9.7,173,1873,0.00,2.45,0.00,0.000,6,0.000,0.036,2898,2145,3083
$GC,1938,1.47,215.3,3.8,1.6,184,2000,0.15,0.00,59.67,0.653,2,0.049,0.000,2935,2145,2658
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,0.4,1.008976
$STATE,2046,end surface coast,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$SM_CCo,2064,68.53,0.638,0,0,2057,350.04
$SM_GC,1.18,0.00,0.00,68.53,0.000,0.000,0.638,369,2136,2057,-10.31,-0.40,350.04
$IRIDIUM_FIX,4719.74,-12254.47,210907,131323
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,10.7
$24V_AH,23.9,4.921
$10V_AH,10.2,2.813
$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,25.525,31.100,209.150,68.525,0.000,76.610,75.658,133.509,1.250,0.000,0.000,13.836,377.774,1085.735,364.595,407.224,344.321,33.349,618.216,0.000,398.999,0.000,8.414
$DEVICE_MAMPS,147.264,60.593,709.475,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6447,201
$CFSIZE,260034560,257052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,094950,4739.758,-12249.909,12,1.3,29,18.3