version: 66.02
glider: 23
mission: 2
dive: 29
start: 9 21 107 14 45 19
data:
$ID,23
$MISSION,2
$DIVE,29
$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,-28948.84
$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,37
$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
$GPS1,144039,4740.393,-12249.438,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.2
$GPS2,144415,4740.396,-12249.435,12,1.2,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.142,-0.121
$KALMAN_X,3187.3,235.4,204.7,759.3,24.0
$KALMAN_Y,1126.4,-148.4,-81.9,242.2,34.2
$MHEAD_RNG_PITCHd_Wd,211.1,4115,-19.8,-8.333
$D_GRID,88
$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,-56.20,0.000,2,0.000,0.000,368,2134,3215
$GC,79,-1.34,-97.8,2.2,-3.6,9,123,10.88,2.50,-24.15,0.000,4,0.146,0.061,2314,3560,3884
$GC,234,-1.34,-97.8,16.2,-9.3,33,241,0.00,2.42,0.00,0.000,6,0.000,0.034,2314,2151,3887
$GC,311,-1.34,-97.8,22.2,-7.9,43,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2151,3887
$GC,501,-1.34,-97.8,37.2,-8.1,58,505,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3549,3888
$GC,684,-1.34,-97.8,53.1,-9.0,71,692,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2151,3888
$GC,881,-1.34,-97.8,67.5,-6.8,87,885,0.00,2.45,0.00,0.000,4,0.000,0.051,2314,3554,3888
$GC,1004,-1.34,-97.8,77.3,-9.2,96,1012,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2143,3888
$STATE,1148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1153,-0.31,0.0,88.6,8.2,108,1236,1.12,0.00,76.07,0.727,6,0.092,0.000,2539,2025,3483
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1238,1.34,97.8,90.3,0.0,115,1316,1.67,0.00,73.85,0.712,6,0.062,0.000,2896,2025,3085
$GC,1498,1.34,97.8,63.1,11.6,136,1503,0.00,2.50,0.00,0.000,4,0.000,0.044,2896,3457,3084
$GC,1524,1.34,97.8,60.1,11.6,138,1528,0.00,2.45,0.00,0.000,6,0.000,0.040,2897,2070,3083
$GC,1726,1.34,97.8,38.8,10.3,154,1730,0.00,2.45,0.00,0.000,4,0.000,0.044,2896,3450,3083
$GC,1752,1.34,97.8,35.9,11.3,156,1756,0.00,2.47,0.00,0.000,6,0.000,0.040,2896,2046,3083
$GC,1949,1.34,97.8,15.0,11.2,175,1956,0.00,2.47,0.00,0.000,4,0.000,0.045,2896,3444,3083
$GC,2048,1.35,107.9,5.9,7.8,190,2062,0.00,2.45,7.20,0.706,6,0.000,0.038,2896,2042,3044
$GC,2127,1.48,229.3,4.2,1.4,202,2202,0.17,0.00,71.12,0.667,2,0.048,0.000,2939,2042,2551
$STATE,2202,end climb,SURFACE_DEPTH_REACHED
$STATE,2203,begin surface coast
$FINISH,0.3,1.012503
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2241,begin surface
$SM_CCo,2260,56.45,0.641,0,0,2056,350.04
$SM_GC,1.01,0.00,0.00,56.45,0.000,0.000,0.641,369,2167,2056,-10.31,0.48,350.04
$IRIDIUM_FIX,4722.92,-12249.11,210907,171745
$TT8_MAMPS,0.025311
$HUMID,2172
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,7.7
$ALTIM_BOTTOM_PING,70.2,24.9
$24V_AH,23.9,5.368
$10V_AH,10.2,2.952
$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,25.575,29.875,228.250,56.450,0.000,38.741,35.961,77.184,1.250,0.000,0.000,13.901,402.755,1187.672,372.789,391.660,208.607,33.349,620.633,0.000,383.343,0.000,8.556
$DEVICE_MAMPS,145.730,60.593,727.116,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6452,220
$CFSIZE,260034560,256880640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,152508,4740.255,-12249.830,32,1.3,32,18.3