version: 66.02
glider: 23
mission: 2
dive: 230
start: 9 28 107 18 15 31
data:
$ID,23
$MISSION,2
$DIVE,230
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,15
$T_MISSION,35
$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,-28656.234
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,13
$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,0
$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
$GPS1,180803,4739.591,-12252.943,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.2
$GPS2,181409,4739.634,-12252.898,13,1.2,13,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,-0.172
$KALMAN_X,12489.6,378.6,209.3,-13019.4,30.6
$KALMAN_Y,5827.5,-292.4,-4.8,-5807.8,76.3
$MHEAD_RNG_PITCHd_Wd,201.0,490,-25.7,-12.222
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.72,-97.8,0.0,0.0,0,90,0.00,0.00,-66.68,0.000,2,0.000,0.000,365,2133,3414
$GC,93,-1.72,-97.8,2.2,-4.7,11,124,10.43,0.00,-15.55,0.000,6,0.149,0.000,2231,2133,3883
$GC,190,-1.72,-97.8,9.7,-10.1,26,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2133,3885
$GC,261,-1.72,-97.8,14.4,-6.2,37,268,0.00,2.47,0.00,0.000,4,0.000,0.047,2231,3571,3885
$GC,412,-1.72,-97.8,25.7,-8.4,54,419,0.00,2.40,0.00,0.000,6,0.000,0.032,2231,2151,3887
$GC,608,-1.72,-97.8,41.3,-8.2,70,612,0.00,2.45,0.00,0.000,4,0.000,0.048,2231,3572,3889
$STATE,759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,759,begin apogee
$GC,767,-0.31,0.0,55.1,9.6,81,847,1.55,0.00,75.57,0.691,6,0.111,0.000,2535,1849,3484
$STATE,848,end apogee,CONTROL_FINISHED_OK
$STATE,848,begin climb
$GC,850,1.72,97.8,57.4,0.0,88,936,2.08,2.97,72.95,0.680,4,0.067,0.058,2979,431,3084
$GC,950,1.72,97.8,46.8,16.8,96,955,0.00,2.72,0.00,0.000,6,0.000,0.028,2980,1854,3084
$GC,1148,1.72,97.8,13.0,16.2,114,1154,0.00,2.55,0.00,0.000,4,0.000,0.041,2978,3278,3083
$STATE,1224,end climb,SURFACE_DEPTH_REACHED
$STATE,1226,begin surface coast
$FINISH,0.2,1.021074
$STATE,1239,end surface coast,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$SM_CCo,1262,117.57,0.621,0,0,2056,350.04
$SM_GC,0.90,0.00,0.00,117.57,0.000,0.000,0.621,368,2139,2056,-10.31,-0.34,350.04
$IRIDIUM_FIX,4722.92,-12251.79,280907,222220
$TT8_MAMPS,0.026845
$HUMID,2120
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,40.2,999.0
$24V_AH,24.0,18.938
$10V_AH,10.2,7.138
$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,25.875,20.625,148.525,117.575,0.000,0.000,0.000,0.000,1.000,0.000,0.000,15.239,274.768,546.762,355.768,247.729,54.953,33.321,523.864,0.000,242.094,0.000,4.021
$DEVICE_MAMPS,148.798,58.292,691.067,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,84.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3335,128
$CFSIZE,260034560,251719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,183926,4739.599,-12252.916,7,1.8,12,18.3