version: 66.02
glider: 23
mission: 2
dive: 30
start: 9 21 107 15 29 37
data:
$ID,23
$MISSION,2
$DIVE,30
$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,-28946.217
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,152508,4740.255,-12249.830,32,1.3,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.4
$GPS2,152833,4740.268,-12249.836,12,1.2,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,-0.157
$KALMAN_X,2998.7,254.6,191.4,441.5,-124.4
$KALMAN_Y,1105.1,-146.0,-43.5,-15.4,40.3
$MHEAD_RNG_PITCHd_Wd,194.4,3578,-19.8,-8.333
$D_GRID,89
$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,-1.34,-97.8,0.0,0.0,0,77,0.00,0.00,-56.45,0.000,2,0.000,0.000,369,2169,3220
$GC,79,-1.34,-97.8,2.2,-4.5,9,123,10.90,2.45,-23.38,0.000,4,0.146,0.061,2315,3545,3884
$GC,240,-1.34,-97.8,17.2,-9.5,34,248,0.00,2.40,0.00,0.000,6,0.000,0.034,2315,2155,3887
$GC,317,-1.34,-97.8,22.9,-7.1,43,321,0.00,2.90,0.00,0.000,4,0.000,0.052,2314,723,3888
$GC,356,-1.34,-97.8,26.0,-8.0,46,361,0.00,2.78,0.00,0.000,6,0.000,0.031,2315,2148,3888
$GC,560,-1.34,-97.8,41.6,-8.1,62,564,0.00,2.47,0.00,0.000,4,0.000,0.050,2315,3572,3888
$GC,816,-1.34,-97.8,64.8,-9.2,81,821,0.00,2.45,0.00,0.000,6,0.000,0.036,2315,2147,3889
$GC,1018,-1.34,-97.8,81.7,-8.5,97,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2147,3889
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1109,-0.31,0.0,89.4,8.9,104,1192,1.12,0.00,76.25,0.725,6,0.093,0.000,2539,2028,3483
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1195,1.34,97.8,91.7,0.0,111,1280,1.67,2.92,73.72,0.709,4,0.065,0.058,2895,661,3086
$GC,1292,1.34,97.8,84.8,10.6,119,1297,0.00,2.75,0.00,0.000,6,0.000,0.030,2895,2049,3085
$GC,1494,1.34,97.8,61.2,11.9,135,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2049,3084
$GC,1684,1.34,97.8,40.3,10.9,150,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2049,3084
$GC,1873,1.34,97.8,20.4,10.3,165,1877,0.00,2.45,0.00,0.000,4,0.000,0.047,2895,3460,3084
$GC,1938,1.34,97.8,13.3,11.0,174,1945,0.00,2.45,0.00,0.000,6,0.000,0.039,2895,2062,3084
$GC,2011,1.34,98.2,6.7,8.3,185,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2062,3083
$GC,2081,1.45,196.2,3.5,2.7,196,2138,0.12,0.00,53.80,0.663,2,0.052,0.000,2927,2062,2696
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2139,begin surface coast
$FINISH,0.3,1.013137
$STATE,2184,end surface coast,CONTROL_FINISHED_OK
$STATE,2184,begin surface
$SM_CCo,2202,72.93,0.644,0,0,2057,350.04
$SM_GC,1.01,0.00,0.00,72.93,0.000,0.000,0.644,367,2174,2057,-10.32,0.68,350.04
$IRIDIUM_FIX,4722.92,-12251.79,210907,181855
$TT8_MAMPS,0.026845
$HUMID,2154
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,7.8
$ALTIM_BOTTOM_PING,74.3,35.9
$24V_AH,23.9,5.429
$10V_AH,10.2,2.970
$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,25.500,26.375,203.775,72.925,0.000,37.541,33.414,70.452,1.000,0.000,0.000,14.383,396.125,1179.165,357.883,382.479,195.634,33.354,602.221,0.000,374.562,0.000,7.152
$DEVICE_MAMPS,146.497,60.593,724.815,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,212
$CFSIZE,260034560,256856064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,160844,4740.130,-12250.141,13,1.2,31,18.3