version: 66.02
glider: 23
mission: 2
dive: 27
start: 9 21 107 13 12 37
data:
$ID,23
$MISSION,2
$DIVE,27
$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,-28940.029
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,26
$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
$GPS1,130107,4740.424,-12248.987,12,1.6,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.3
$GPS2,131133,4740.379,-12248.913,14,1.5,14,18.3
$SPEED_LIMITS,0.101,0.167
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.082
$KALMAN_X,3249.8,164.0,128.4,1487.8,246.1
$KALMAN_Y,1144.6,-138.8,-141.5,242.4,17.3
$MHEAD_RNG_PITCHd_Wd,281.4,248,-13.3,-5.833
$D_GRID,91
$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,19,-0.94,-97.8,0.0,0.0,0,76,0.00,0.00,-55.55,0.000,2,0.000,0.000,368,2154,3184
$GC,78,-0.94,-97.8,2.0,-2.2,9,121,11.32,0.00,-26.17,0.000,6,0.146,0.000,2398,2154,3884
$GC,186,-0.94,-97.8,7.2,-5.1,26,193,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,3562,3886
$GC,278,-0.94,-97.8,12.6,-6.2,40,285,0.00,2.40,0.00,0.000,6,0.000,0.034,2398,2147,3886
$GC,350,-0.94,-97.8,16.4,-5.2,51,357,0.00,2.85,0.00,0.000,4,0.000,0.051,2398,737,3887
$GC,455,-0.94,-97.8,22.1,-5.4,64,460,0.00,2.78,0.00,0.000,6,0.000,0.030,2398,2162,3888
$GC,651,-0.94,-97.8,33.3,-6.6,79,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2162,3888
$GC,839,-0.94,-97.8,45.2,-6.0,94,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2162,3889
$GC,1028,-0.94,-97.8,56.2,-5.9,109,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2161,3889
$GC,1218,-0.94,-97.8,67.5,-6.0,124,1222,0.00,2.90,0.00,0.000,4,0.000,0.051,2398,733,3889
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1262,-0.31,0.0,70.0,6.8,127,1342,0.70,0.00,75.95,0.707,6,0.081,0.000,2540,2099,3484
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1345,0.94,97.8,71.9,0.0,134,1428,1.30,2.97,73.93,0.689,4,0.067,0.054,2813,680,3085
$GC,1453,0.94,97.8,66.8,7.0,143,1458,0.00,2.83,0.00,0.000,6,0.000,0.031,2813,2109,3085
$GC,1648,0.94,97.8,53.7,6.6,158,1653,0.00,2.95,0.00,0.000,4,0.000,0.055,2813,686,3085
$GC,1706,0.94,97.8,49.1,8.3,162,1714,0.00,2.83,0.00,0.000,6,0.000,0.031,2813,2106,3085
$GC,1902,0.94,97.8,34.8,7.4,178,1907,0.00,2.92,0.00,0.000,4,0.000,0.054,2813,691,3085
$GC,1947,0.94,97.8,31.3,7.8,181,1955,0.00,2.83,0.00,0.000,6,0.000,0.031,2813,2110,3084
$GC,2145,0.94,97.8,17.6,6.8,199,2152,0.00,2.92,0.00,0.000,4,0.000,0.055,2813,692,3085
$GC,2243,0.94,97.8,10.9,7.0,214,2250,0.00,2.80,0.00,0.000,6,0.000,0.031,2813,2101,3084
$GC,2315,0.94,97.8,6.4,6.2,225,2321,0.00,2.47,0.00,0.000,4,0.000,0.051,2813,3516,3084
$GC,2419,1.01,164.2,3.0,3.2,241,2458,0.00,2.45,33.55,0.663,2,0.000,0.035,2813,2098,2832
$STATE,2459,end climb,SURFACE_DEPTH_REACHED
$STATE,2459,begin surface coast
$FINISH,0.2,1.002796
$STATE,2530,end surface coast,CONTROL_FINISHED_OK
$STATE,2530,begin surface
$SM_CCo,2548,88.80,0.647,0,0,2057,350.04
$SM_GC,1.05,0.00,0.00,88.80,0.000,0.000,0.647,365,2175,2057,-10.33,0.71,350.04
$IRIDIUM_FIX,4726.11,-12253.53,210907,171755
$TT8_MAMPS,0.026845
$HUMID,2173
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.7,7.7
$ALTIM_BOTTOM_PING,55.4,8.5
$24V_AH,23.9,5.243
$10V_AH,10.2,2.916
$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,24.475,44.200,183.425,88.800,0.000,119.127,177.326,137.077,1.750,0.000,0.000,15.520,475.486,1498.450,390.571,429.339,500.375,33.349,654.165,0.000,419.335,0.000,8.427
$DEVICE_MAMPS,145.730,55.224,707.174,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6456,258
$CFSIZE,260034560,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,135727,4740.519,-12249.118,12,2.0,12,18.3