version: 66.02
glider: 23
mission: 2
dive: 31
start: 9 21 107 16 13 42
data:
$ID,23
$MISSION,2
$DIVE,31
$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,-28945.293
$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,22
$R_STBD_OVSHOOT,43
$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
$GPS1,160844,4740.130,-12250.141,13,1.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.9
$GPS2,161238,4740.147,-12250.139,10,1.6,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,-0.169
$KALMAN_X,2927.6,233.8,119.7,223.7,-174.7
$KALMAN_Y,1163.8,-140.9,-1.1,-346.5,50.0
$MHEAD_RNG_PITCHd_Wd,186.9,3147,-19.8,-8.333
$D_GRID,91
$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,-56.28,0.000,2,0.000,0.000,367,2175,3212
$GC,79,-1.34,-97.8,2.1,-3.5,9,122,10.88,2.42,-23.50,0.000,4,0.146,0.061,2313,3541,3885
$GC,267,-1.34,-97.8,18.6,-8.0,38,274,0.00,2.38,0.00,0.000,6,0.000,0.035,2313,2149,3887
$GC,337,-1.34,-97.8,23.9,-7.6,45,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2149,3888
$GC,526,-1.34,-97.8,38.1,-7.7,60,530,0.00,2.45,0.00,0.000,4,0.000,0.049,2313,3552,3888
$GC,764,-1.34,-97.8,59.4,-9.0,78,769,0.00,2.40,0.00,0.000,6,0.000,0.036,2313,2145,3889
$GC,959,-1.34,-97.8,76.3,-8.6,93,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2145,3889
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1140,-0.31,0.0,91.4,8.5,107,1221,1.12,0.00,76.12,0.726,6,0.093,0.000,2538,2025,3484
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1224,1.34,97.8,93.8,0.0,114,1309,1.70,2.92,73.68,0.713,4,0.065,0.058,2899,657,3084
$GC,1314,1.34,97.8,87.2,10.3,121,1322,0.00,2.75,0.00,0.000,6,0.000,0.030,2899,2026,3084
$GC,1510,1.34,97.8,64.1,12.1,137,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2025,3085
$GC,1699,1.34,97.8,42.4,10.9,152,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2025,3084
$GC,1889,1.34,97.8,21.5,11.1,167,1893,0.00,2.53,0.00,0.000,4,0.000,0.047,2899,3471,3084
$GC,2020,1.34,97.8,7.0,10.1,185,2027,0.00,2.47,0.00,0.000,6,0.000,0.041,2899,2066,3083
$GC,2092,1.43,182.1,3.0,3.5,196,2137,0.10,0.00,41.90,0.658,2,0.058,0.000,2925,2066,2763
$STATE,2138,end climb,SURFACE_DEPTH_REACHED
$STATE,2138,begin surface coast
$FINISH,0.3,1.016105
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2234,80.82,0.643,0,0,2057,350.04
$SM_GC,0.98,0.00,0.00,80.82,0.000,0.000,0.643,367,2165,2057,-10.32,0.40,350.04
$IRIDIUM_FIX,4722.92,-12247.38,210907,191923
$TT8_MAMPS,0.026845
$HUMID,2158
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,7.7
$ALTIM_BOTTOM_PING,76.3,999.0
$24V_AH,23.9,5.490
$10V_AH,10.2,2.989
$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,25.450,20.675,191.700,80.825,0.000,37.649,40.883,87.485,1.500,0.000,0.000,15.895,400.974,1224.053,350.695,382.172,222.255,33.358,586.864,0.000,370.954,0.000,11.518
$DEVICE_MAMPS,145.730,60.593,725.582,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6459,215
$CFSIZE,260034560,256835584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,165326,4739.976,-12250.360,12,1.5,29,18.3