version: 66.02
glider: 23
mission: 2
dive: 41
start: 9 22 107 0 36 4
data:
$ID,23
$MISSION,2
$DIVE,41
$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,-28926.424
$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,20
$R_STBD_OVSHOOT,44
$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
$GPS1,003023,4739.623,-12252.453,12,2.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.0
$GPS2,003459,4739.627,-12252.422,11,2.5,30,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.174,-0.067
$KALMAN_X,3857.8,15.8,162.6,-3379.1,79.1
$KALMAN_Y,1842.0,138.2,13.0,-2280.1,57.3
$MHEAD_RNG_PITCHd_Wd,230.7,1018,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-62.62,0.000,2,0.000,0.000,367,2170,3324
$GC,85,-1.34,-97.8,2.2,-4.6,10,122,10.90,2.40,-19.70,0.000,4,0.146,0.061,2314,3539,3883
$GC,372,-1.34,-97.8,26.1,-7.5,49,377,0.00,2.40,0.00,0.000,6,0.000,0.034,2315,2148,3886
$GC,575,-1.34,-97.8,41.2,-7.9,65,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2149,3887
$GC,764,-1.34,-97.8,56.2,-7.5,80,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2148,3888
$GC,953,-1.34,-97.8,71.2,-8.4,95,957,0.00,2.45,0.00,0.000,4,0.000,0.050,2315,3544,3888
$GC,1124,-1.34,-97.8,86.0,-8.7,108,1129,0.00,2.40,0.00,0.000,6,0.000,0.036,2315,2149,3888
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1300,begin apogee
$GC,1304,-0.31,0.0,100.2,7.9,122,1387,1.12,0.00,76.05,0.736,6,0.093,0.000,2539,2028,3484
$STATE,1388,end apogee,CONTROL_FINISHED_OK
$STATE,1388,begin climb
$GC,1389,1.34,97.8,101.8,0.0,129,1475,1.67,2.92,74.05,0.717,4,0.064,0.058,2898,660,3084
$GC,1513,1.34,97.8,91.0,12.3,139,1518,0.00,2.70,0.00,0.000,6,0.000,0.030,2898,2016,3084
$GC,1715,1.34,97.8,67.2,12.0,155,1720,0.00,2.58,0.00,0.000,4,0.000,0.046,2897,3472,3084
$GC,1773,1.34,97.8,60.0,12.0,159,1781,0.00,2.47,0.00,0.000,6,0.000,0.038,2898,2066,3083
$GC,1969,1.34,97.8,37.8,11.3,175,1974,0.00,2.95,0.00,0.000,4,0.000,0.061,2897,634,3083
$GC,2008,1.34,97.8,32.9,12.5,178,2013,0.00,2.78,0.00,0.000,6,0.000,0.030,2897,2061,3083
$GC,2208,1.34,97.8,10.7,10.3,200,2215,0.00,2.45,0.00,0.000,4,0.000,0.048,2898,3453,3083
$GC,2247,1.34,97.8,7.1,9.2,206,2254,0.00,2.45,0.00,0.000,6,0.000,0.038,2897,2052,3082
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.5,1.021073
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2357,126.47,0.645,2,0,2056,350.04
$SM_GC,1.01,0.00,0.00,126.47,0.000,0.000,0.645,367,2176,2056,-10.32,0.74,350.04
$IRIDIUM_FIX,4722.92,-12254.47,220907,030321
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,85.4,32.1
$24V_AH,23.9,6.159
$10V_AH,10.2,3.194
$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,25.200,31.325,150.100,126.475,0.000,38.561,51.688,100.038,1.250,0.000,0.000,33.024,421.371,1327.027,384.624,420.192,248.200,33.350,628.896,0.000,393.973,0.000,7.595
$DEVICE_MAMPS,146.497,60.593,735.553,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,220
$CFSIZE,260034560,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220907,011855,4739.587,-12252.752,32,1.4,37,18.3