version: 66.02
glider: 23
mission: 2
dive: 25
start: 9 21 107 11 27 0
data:
$ID,23
$MISSION,2
$DIVE,25
$D_SURF,2
$D_FLARE,2
$D_TGT,70
$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,-28945.73
$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,23
$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
$GPS1,112208,4739.982,-12249.435,25,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.8
$GPS2,112556,4739.977,-12249.409,15,1.9,15,18.3
$SPEED_LIMITS,0.101,0.167
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,0.164
$KALMAN_X,2515.2,137.5,95.8,1661.5,179.2
$KALMAN_Y,1000.0,-48.9,-49.7,-543.2,-197.9
$MHEAD_RNG_PITCHd_Wd,330.7,1096,-13.3,-5.833
$D_GRID,86
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.94,-97.8,0.0,0.0,0,77,0.00,0.00,-56.47,0.000,2,0.000,0.000,366,2138,3205
$GC,79,-0.94,-97.8,2.1,-2.4,9,123,11.38,2.88,-23.77,0.000,4,0.146,0.062,2399,737,3883
$GC,267,-0.94,-97.8,14.8,-7.0,38,274,0.00,2.80,0.00,0.000,6,0.000,0.031,2398,2153,3886
$GC,339,-0.94,-97.8,19.6,-6.7,49,346,0.00,2.47,0.00,0.000,4,0.000,0.050,2399,3553,3886
$GC,417,-0.94,-97.8,24.8,-6.4,56,422,0.00,2.42,0.00,0.000,6,0.000,0.035,2398,2152,3887
$GC,619,-0.94,-97.8,35.9,-5.5,72,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2152,3887
$GC,809,-0.94,-97.8,46.2,-5.2,87,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2152,3887
$GC,998,-0.94,-97.8,56.2,-5.3,102,1002,0.00,2.88,0.00,0.000,4,0.000,0.054,2399,738,3888
$GC,1037,-0.94,-97.8,58.3,-5.3,105,1042,0.00,2.75,0.00,0.000,6,0.000,0.031,2398,2152,3888
$GC,1240,-0.94,-97.8,69.0,-5.4,121,1245,0.00,2.90,0.00,0.000,4,0.000,0.052,2398,725,3888
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1269,-0.31,0.0,70.4,5.3,122,1348,0.68,0.00,75.82,0.709,6,0.084,0.000,2537,2147,3484
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1350,0.94,97.8,71.9,0.0,129,1432,1.33,0.00,74.15,0.692,6,0.065,0.000,2814,2147,3084
$GC,1620,0.94,97.8,53.8,7.9,151,1624,0.00,2.92,0.00,0.000,4,0.000,0.056,2814,738,3083
$GC,1738,0.94,97.8,43.9,8.4,160,1743,0.00,2.80,0.00,0.000,6,0.000,0.032,2814,2158,3083
$GC,1940,0.94,97.8,29.3,7.0,176,1945,0.00,2.95,0.00,0.000,4,0.000,0.055,2814,728,3083
$GC,1998,0.94,97.8,24.9,7.9,180,2007,0.00,2.83,0.00,0.000,6,0.000,0.031,2814,2153,3083
$GC,2201,0.94,97.8,11.7,6.1,206,2208,0.00,2.92,0.00,0.000,4,0.000,0.054,2814,736,3083
$GC,2266,0.94,97.8,7.4,6.7,216,2273,0.00,2.80,0.00,0.000,6,0.000,0.031,2814,2150,3083
$GC,2338,1.02,172.0,5.0,2.9,227,2400,0.00,2.53,54.75,0.666,4,0.000,0.051,2814,3564,2782
$STATE,2430,end climb,SURFACE_DEPTH_REACHED
$STATE,2430,begin surface coast
$FINISH,0.4,1.020939
$STATE,2484,end surface coast,CONTROL_FINISHED_OK
$STATE,2485,begin surface
$SM_CCo,2505,83.43,0.644,0,0,2057,350.04
$SM_GC,1.01,0.00,0.00,83.43,0.000,0.000,0.644,366,2135,2057,-10.32,-0.42,350.04
$IRIDIUM_FIX,4722.92,-12247.38,210907,141408
$TT8_MAMPS,0.026845
$HUMID,2156
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,7.7
$ALTIM_BOTTOM_PING,55.5,8.5
$24V_AH,23.9,5.109
$10V_AH,10.2,2.872
$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,24.525,44.150,204.725,83.425,0.000,40.087,37.016,77.495,1.000,0.000,0.000,16.935,459.381,1348.229,394.005,428.728,216.975,33.352,657.633,0.000,420.392,0.000,6.160
$DEVICE_MAMPS,146.497,62.127,708.708,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,250
$CFSIZE,260034560,256974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,121125,4740.196,-12249.181,31,1.6,35,18.3