version: 66.02
glider: 23
mission: 2
dive: 37
start: 9 21 107 21 7 24
data:
$ID,23
$MISSION,2
$DIVE,37
$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,-28915.332
$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,26
$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
$GPS1,210202,4739.631,-12251.655,12,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.4
$GPS2,210620,4739.662,-12251.600,12,1.6,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,-0.048
$KALMAN_X,3505.6,20.6,-157.7,-1688.4,112.2
$KALMAN_Y,1436.1,-13.4,77.5,-1723.3,57.5
$MHEAD_RNG_PITCHd_Wd,236.8,2032,-19.8,-8.333
$D_GRID,123
$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,-61.30,0.000,2,0.000,0.000,368,2131,3318
$GC,84,-1.34,-97.8,2.2,-4.7,10,122,10.88,2.85,-18.98,0.000,4,0.146,0.060,2313,733,3884
$GC,141,-1.34,-97.8,5.6,-7.8,19,147,0.00,2.78,0.00,0.000,6,0.000,0.031,2313,2152,3886
$GC,212,-1.34,-97.8,11.3,-7.2,30,219,0.00,2.47,0.00,0.000,4,0.000,0.050,2313,3570,3886
$GC,291,-1.34,-97.8,17.4,-8.0,42,298,0.00,2.40,0.00,0.000,6,0.000,0.035,2313,2155,3888
$GC,369,-1.34,-97.8,23.0,-7.1,51,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2155,3888
$GC,557,-1.34,-97.8,36.7,-7.7,66,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2155,3889
$GC,747,-1.34,-97.8,52.0,-7.9,81,751,0.00,2.47,0.00,0.000,4,0.000,0.051,2313,3571,3889
$GC,805,-1.34,-97.8,57.1,-9.4,85,809,0.00,2.45,0.00,0.000,6,0.000,0.037,2313,2149,3890
$GC,1007,-1.34,-97.8,73.1,-8.0,101,1011,0.00,2.47,0.00,0.000,4,0.000,0.051,2313,3559,3890
$GC,1144,-1.34,-97.8,86.5,-9.8,111,1152,0.00,2.45,0.00,0.000,6,0.000,0.037,2313,2148,3890
$STATE,1302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1306,-0.31,0.0,100.2,8.1,124,1388,1.12,0.00,76.38,0.734,6,0.096,0.000,2537,2030,3483
$STATE,1389,end apogee,CONTROL_FINISHED_OK
$STATE,1389,begin climb
$GC,1391,1.34,97.8,103.1,0.0,131,1476,1.70,2.92,73.88,0.719,4,0.067,0.059,2898,661,3084
$GC,1547,1.34,97.8,89.8,13.0,143,1555,0.00,2.75,0.00,0.000,6,0.000,0.029,2898,2046,3084
$GC,1743,1.34,97.8,65.6,13.3,159,1748,0.00,2.50,0.00,0.000,4,0.000,0.046,2898,3459,3084
$GC,1788,1.34,97.8,59.7,13.1,162,1796,0.00,2.47,0.00,0.000,6,0.000,0.039,2898,2058,3083
$GC,1984,1.34,97.8,36.7,11.2,178,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2059,3083
$GC,2175,1.34,97.8,15.6,10.3,196,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2059,3083
$GC,2241,1.34,97.8,8.7,10.5,206,2248,0.00,2.92,0.00,0.000,4,0.000,0.061,2898,636,3083
$GC,2260,1.34,97.8,6.6,10.7,209,2267,0.00,2.78,0.00,0.000,6,0.000,0.031,2898,2045,3083
$STATE,2331,end climb,SURFACE_DEPTH_REACHED
$STATE,2331,begin surface coast
$FINISH,0.3,1.010801
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2383,122.55,0.642,0,0,2056,350.04
$SM_GC,0.90,0.00,0.00,122.55,0.000,0.000,0.642,364,2178,2056,-10.33,0.79,350.04
$IRIDIUM_FIX,4722.92,-12300.63,220907,000046
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.3,8.5
$ALTIM_BOTTOM_PING,85.3,7.4
$24V_AH,23.9,5.879
$10V_AH,10.2,3.108
$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,25.200,37.050,150.250,122.550,0.000,39.416,38.096,113.493,1.250,0.000,0.000,13.939,432.795,1322.647,388.367,399.512,251.965,33.351,637.812,0.000,392.092,0.000,7.769
$DEVICE_MAMPS,146.497,61.360,734.019,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,225
$CFSIZE,260034560,256679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,215002,4739.680,-12251.855,11,1.7,11,18.3