version: 66.02
glider: 23
mission: 2
dive: 33
start: 9 21 107 17 53 49
data:
$ID,23
$MISSION,2
$DIVE,33
$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,-28935.736
$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,49
$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
$GPS1,174901,4739.796,-12250.579,30,0.9,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.2
$GPS2,175245,4739.798,-12250.567,13,1.5,13,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,-0.150
$KALMAN_X,3041.9,139.0,-88.2,-124.5,-91.6
$KALMAN_Y,1186.5,-112.2,80.6,-1123.9,63.0
$MHEAD_RNG_PITCHd_Wd,198.3,2319,-19.8,-8.333
$D_GRID,120
$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,-56.33,0.000,2,0.000,0.000,364,2178,3198
$GC,79,-1.34,-97.8,2.0,-3.8,9,117,10.95,0.00,-24.00,0.000,6,0.148,0.000,2312,2178,3884
$GC,181,-1.34,-97.8,9.5,-10.6,25,188,0.00,2.40,0.00,0.000,4,0.000,0.048,2313,3536,3887
$GC,397,-1.34,-97.8,30.0,-9.4,50,406,0.00,2.40,0.00,0.000,6,0.000,0.034,2312,2154,3888
$GC,594,-1.34,-97.8,47.4,-8.6,66,598,0.00,2.45,0.00,0.000,4,0.000,0.049,2313,3532,3888
$GC,705,-1.34,-97.8,57.6,-9.3,74,713,0.00,2.42,0.00,0.000,6,0.000,0.035,2313,2139,3889
$GC,901,-1.34,-97.8,73.9,-8.3,90,906,0.00,2.45,0.00,0.000,4,0.000,0.050,2312,3536,3889
$GC,959,-1.34,-97.8,79.1,-8.7,94,967,0.00,2.40,0.00,0.000,6,0.000,0.036,2312,2151,3889
$GC,1156,-1.34,-97.8,94.7,-8.3,110,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2151,3890
$STATE,1230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1230,begin apogee
$GC,1234,-0.31,0.0,100.5,7.5,116,1317,1.12,0.00,76.43,0.732,6,0.095,0.000,2536,2030,3483
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1319,1.34,97.8,102.3,0.0,123,1398,1.70,0.00,74.00,0.717,6,0.067,0.000,2897,2030,3085
$GC,1580,1.34,97.8,74.4,12.4,144,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2030,3084
$GC,1769,1.34,97.8,50.9,12.7,159,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2030,3084
$GC,1959,1.34,97.8,29.4,10.5,174,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2030,3084
$GC,2152,1.34,97.8,11.0,10.5,196,2159,0.00,2.47,0.00,0.000,4,0.000,0.047,2897,3431,3083
$GC,2409,1.50,245.0,2.8,-0.1,235,2478,0.15,2.38,63.55,0.653,2,0.044,0.035,2939,2065,2599
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,0.3,1.004021
$STATE,2518,end surface coast,CONTROL_FINISHED_OK
$STATE,2518,begin surface
$SM_CCo,2536,61.65,0.647,0,0,2056,350.04
$SM_GC,1.15,0.00,0.00,61.65,0.000,0.000,0.647,366,2145,2056,-10.32,-0.17,350.04
$IRIDIUM_FIX,4722.92,-12249.11,210907,212138
$TT8_MAMPS,0.026845
$HUMID,2190
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.7,7.7
$ALTIM_BOTTOM_PING,85.6,31.6
$24V_AH,23.9,5.626
$10V_AH,10.2,3.032
$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,25.675,19.675,213.975,61.650,0.000,40.940,36.049,79.973,1.750,0.000,0.000,14.876,452.048,1399.499,364.112,422.928,214.051,33.352,617.764,0.000,415.862,0.000,7.150
$DEVICE_MAMPS,148.031,55.991,731.718,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,252
$CFSIZE,260034560,256782336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,183802,4739.613,-12250.797,9,1.4,14,18.3