version: 66.02
glider: 23
mission: 2
dive: 28
start: 9 21 107 14 2 40
data:
$ID,23
$MISSION,2
$DIVE,28
$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,-28951.615
$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,24
$R_STBD_OVSHOOT,37
$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
$GPS1,135727,4740.519,-12249.118,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,140135,4740.502,-12249.097,12,2.5,31,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,-0.091
$KALMAN_X,3294.4,202.0,179.6,1130.4,139.9
$KALMAN_Y,1157.1,-146.1,-117.7,441.3,33.1
$MHEAD_RNG_PITCHd_Wd,222.6,4568,-19.8,-8.333
$D_GRID,90
$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,-56.25,0.000,2,0.000,0.000,365,2175,3207
$GC,78,-1.34,-97.8,2.0,-3.9,9,122,10.85,2.45,-27.02,0.000,4,0.144,0.061,2314,3554,3883
$GC,160,-1.34,-97.8,6.7,-11.7,22,168,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2151,3885
$GC,232,-1.34,-97.8,14.2,-9.2,33,239,0.00,2.47,0.00,0.000,4,0.000,0.048,2314,3553,3885
$GC,329,-1.34,-97.8,23.0,-9.1,45,338,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2150,3887
$GC,526,-1.34,-97.8,38.4,-7.9,61,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2151,3888
$GC,716,-1.34,-97.8,54.0,-8.5,76,720,0.00,2.47,0.00,0.000,4,0.000,0.051,2314,3546,3888
$GC,873,-1.34,-97.8,68.2,-9.7,88,878,0.00,2.40,0.00,0.000,6,0.000,0.037,2314,2150,3888
$GC,1076,-1.34,-97.8,85.9,-8.1,104,1080,0.00,2.45,0.00,0.000,4,0.000,0.052,2314,3556,3888
$STATE,1119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1119,begin apogee
$GC,1125,-0.31,0.0,90.2,8.7,107,1205,1.12,0.00,76.15,0.723,6,0.100,0.000,2537,2093,3484
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1207,1.34,97.8,91.9,0.0,114,1288,1.75,0.00,74.00,0.709,6,0.067,0.000,2903,2093,3085
$GC,1476,1.34,97.8,63.2,11.6,136,1480,0.00,2.45,0.00,0.000,4,0.000,0.045,2903,3500,3084
$GC,1547,1.34,97.8,54.3,12.0,141,1555,0.00,2.47,0.00,0.000,6,0.000,0.039,2903,2099,3084
$GC,1743,1.34,97.8,32.8,10.4,157,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2100,3083
$GC,1936,1.34,97.8,11.9,10.7,177,1943,0.00,2.47,0.00,0.000,4,0.000,0.046,2903,3499,3083
$GC,1961,1.34,97.8,9.1,10.8,181,1968,0.00,2.45,0.00,0.000,6,0.000,0.038,2903,2096,3083
$GC,2033,1.41,163.6,3.7,4.6,192,2077,0.00,2.55,38.53,0.664,4,0.000,0.048,2903,3494,2815
$STATE,2081,end climb,SURFACE_DEPTH_REACHED
$STATE,2081,begin surface coast
$FINISH,0.4,1.019180
$STATE,2122,end surface coast,CONTROL_FINISHED_OK
$STATE,2122,begin surface
$SM_CCo,2143,86.95,0.645,0,0,2057,350.04
$SM_GC,1.07,0.00,0.00,86.95,0.000,0.000,0.645,368,2133,2057,-10.31,-0.48,350.04
$IRIDIUM_FIX,4722.92,-12244.69,210907,171728
$TT8_MAMPS,0.026845
$HUMID,2186
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,10.7
$ALTIM_BOTTOM_PING,70.4,28.6
$24V_AH,23.9,5.305
$10V_AH,10.2,2.934
$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,25.300,34.425,188.675,86.950,0.000,39.465,37.099,85.197,1.250,0.000,0.000,33.602,384.995,1142.599,382.468,382.299,217.036,33.360,612.701,0.000,355.587,0.000,8.571
$DEVICE_MAMPS,144.196,60.593,723.281,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,206
$CFSIZE,260034560,256909312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,144039,4740.393,-12249.438,8,1.6,8,18.3