version: 66.02
glider: 23
mission: 2
dive: 125
start: 9 24 107 18 42 31
data:
$ID,23
$MISSION,2
$DIVE,125
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,80
$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,-28972.17
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,41
$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
$GPS1,183745,4739.461,-12252.812,7,1.4,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.8
$GPS2,184127,4739.459,-12252.803,16,1.3,16,18.3
$SPEED_LIMITS,0.130,0.181
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.104
$KALMAN_X,6457.9,42.9,19.1,-6338.0,-44.6
$KALMAN_Y,6557.2,136.1,-61.1,-7226.0,-124.1
$MHEAD_RNG_PITCHd_Wd,36.5,5119,-17.8,-7.500
$D_GRID,122
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.22,-97.8,0.0,0.0,0,83,0.00,0.00,-61.45,0.000,2,0.000,0.000,367,2171,3333
$GC,86,-1.22,-97.8,2.1,-3.4,10,124,10.98,3.00,-21.23,0.000,4,0.145,0.058,2341,729,3883
$GC,322,-1.22,-97.8,16.7,-7.1,46,328,0.00,2.78,0.00,0.000,6,0.000,0.031,2341,2140,3885
$GC,393,-1.22,-97.8,21.0,-6.0,56,398,0.00,2.47,0.00,0.000,4,0.000,0.050,2341,3563,3886
$GC,425,-1.22,-97.8,23.2,-6.9,58,430,0.00,2.40,0.00,0.000,6,0.000,0.034,2341,2155,3886
$GC,627,-1.22,-97.8,35.5,-6.2,74,631,0.00,2.47,0.00,0.000,4,0.000,0.051,2341,3569,3887
$GC,878,-1.22,-97.8,52.0,-6.3,93,883,0.00,2.40,0.00,0.000,6,0.000,0.037,2341,2148,3887
$GC,1080,-1.22,-97.8,64.0,-5.9,109,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2149,3887
$GC,1271,-1.22,-97.8,74.5,-5.6,124,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2148,3887
$GC,1459,-1.22,-97.8,84.7,-5.7,139,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2148,3887
$STATE,1549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1549,begin apogee
$GC,1554,-0.31,0.0,90.1,6.4,146,1633,0.95,0.00,75.90,0.736,6,0.093,0.000,2534,2027,3484
$STATE,1634,end apogee,CONTROL_FINISHED_OK
$STATE,1634,begin climb
$GC,1636,1.22,97.8,91.8,0.0,153,1722,1.60,2.95,73.78,0.719,4,0.068,0.059,2872,657,3084
$GC,1747,1.22,97.8,83.7,10.9,162,1752,0.00,2.78,0.00,0.000,6,0.000,0.031,2872,2056,3084
$GC,1949,1.22,97.8,61.1,10.9,178,1954,0.00,2.90,0.00,0.000,4,0.000,0.058,2872,659,3083
$GC,1981,1.22,97.8,57.3,12.0,180,1988,0.00,2.78,0.00,0.000,6,0.000,0.031,2872,2047,3083
$GC,2177,1.22,97.8,36.9,10.4,196,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2047,3083
$GC,2368,1.22,97.8,17.4,10.1,212,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2047,3084
$GC,2439,1.22,97.8,10.5,9.2,223,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2047,3083
$GC,2510,1.22,97.8,4.1,8.6,234,2516,0.00,2.47,0.00,0.000,4,0.000,0.048,2872,3467,3083
$STATE,2540,end climb,SURFACE_DEPTH_REACHED
$STATE,2540,begin surface coast
$FINISH,1.2,1.021294
$STATE,2555,end surface coast,CONTROL_FINISHED_OK
$STATE,2555,begin surface
$SM_CCo,2576,121.75,0.649,0,0,2057,350.04
$SM_GC,1.04,0.00,0.00,121.75,0.000,0.000,0.649,367,2160,2057,-10.32,0.28,350.04
$IRIDIUM_FIX,4719.74,-12258.89,240907,212130
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.4,7.9
$ALTIM_BOTTOM_PING,90.1,28.6
$24V_AH,24.0,11.601
$10V_AH,10.2,4.834
$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,25.125,31.850,149.675,121.750,0.000,39.776,32.247,76.365,2.250,0.000,0.000,17.571,456.951,1464.772,370.110,433.463,224.253,33.349,629.506,0.000,419.141,0.000,11.665
$DEVICE_MAMPS,144.963,59.059,736.320,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6447,241
$CFSIZE,260034560,254582784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,192821,4739.513,-12252.586,10,1.8,10,18.3