version: 66.02
glider: 23
mission: 2
dive: 34
start: 9 21 107 18 42 55
data:
$ID,23
$MISSION,2
$DIVE,34
$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,-28929.693
$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,25
$R_STBD_OVSHOOT,39
$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
$GPS1,183802,4739.613,-12250.797,9,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.0
$GPS2,184151,4739.633,-12250.760,11,1.4,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,-0.028
$KALMAN_X,3174.9,98.2,-161.8,-383.6,-27.3
$KALMAN_Y,1178.5,-83.3,113.2,-1484.2,20.4
$MHEAD_RNG_PITCHd_Wd,243.0,3062,-19.8,-8.333
$D_GRID,118
$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,-97.8,0.0,0.0,0,82,0.00,0.00,-61.38,0.000,2,0.000,0.000,366,2144,3326
$GC,84,-1.34,-97.8,2.3,-4.6,10,122,10.90,2.88,-18.15,0.000,4,0.146,0.059,2314,739,3884
$GC,187,-1.34,-97.8,9.0,-6.8,26,194,0.00,2.75,0.00,0.000,6,0.000,0.030,2314,2148,3886
$GC,259,-1.34,-97.8,14.8,-7.6,37,266,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3571,3886
$GC,403,-1.34,-97.8,26.9,-8.1,53,408,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2157,3888
$GC,605,-1.34,-97.8,41.8,-7.5,69,610,0.00,2.47,0.00,0.000,4,0.000,0.049,2314,3555,3889
$GC,737,-1.34,-97.8,52.3,-8.3,79,741,0.00,2.40,0.00,0.000,6,0.000,0.037,2314,2149,3890
$GC,939,-1.34,-97.8,67.4,-7.3,95,944,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3558,3890
$GC,978,-1.34,-97.8,70.5,-8.4,98,983,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2112,3890
$GC,1180,-1.34,-97.8,87.2,-8.6,114,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2115,3890
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1347,-0.31,0.0,100.6,8.0,127,1430,1.12,0.00,76.60,0.732,6,0.092,0.000,2539,2039,3483
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1432,1.34,97.8,102.0,0.0,134,1515,1.73,2.92,73.72,0.719,4,0.064,0.060,2903,655,3084
$GC,1554,1.34,97.8,90.7,12.8,144,1558,0.00,2.75,0.00,0.000,6,0.000,0.030,2903,2056,3084
$GC,1757,1.34,97.8,67.2,11.0,160,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2056,3084
$GC,1945,1.34,97.8,48.0,10.0,175,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2056,3084
$GC,2134,1.34,97.8,27.7,11.5,190,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2056,3083
$GC,2329,1.34,97.8,6.2,8.8,214,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2056,3083
$GC,2395,1.38,130.9,2.6,6.4,224,2409,0.00,0.00,11.98,0.687,2,0.000,0.000,2903,2056,3005
$STATE,2409,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,0.4,1.020845
$STATE,2441,end surface coast,CONTROL_FINISHED_OK
$STATE,2441,begin surface
$SM_CCo,2460,112.97,0.646,0,0,2057,350.04
$SM_GC,1.02,0.00,0.00,112.97,0.000,0.000,0.646,366,2180,2057,-10.32,0.85,350.04
$IRIDIUM_FIX,4719.74,-12251.79,210907,212120
$TT8_MAMPS,0.026845
$HUMID,2180
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,8.0
$ALTIM_BOTTOM_PING,85.0,31.0
$24V_AH,23.9,5.688
$10V_AH,10.2,3.050
$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,25.200,26.250,162.300,112.975,0.000,38.989,30.713,97.481,1.250,0.000,0.000,13.115,440.520,1403.029,361.159,405.005,222.833,33.337,608.703,0.000,398.033,0.000,7.152
$DEVICE_MAMPS,146.497,63.661,731.718,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,231
$CFSIZE,260034560,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,192644,4739.629,-12251.151,11,1.4,16,18.3