version: 66.02
glider: 23
mission: 2
dive: 35
start: 9 21 107 19 32 1
data:
$ID,23
$MISSION,2
$DIVE,35
$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,-28923.936
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,192644,4739.629,-12251.151,11,1.4,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.0
$GPS2,193057,4739.653,-12251.103,11,1.4,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.035
$KALMAN_X,3258.0,64.2,-197.6,-823.3,22.4
$KALMAN_Y,1264.8,-66.8,108.6,-1546.7,28.1
$MHEAD_RNG_PITCHd_Wd,241.0,2642,-19.8,-8.333
$D_GRID,118
$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,-97.8,0.0,0.0,0,76,0.00,0.00,-55.42,0.000,2,0.000,0.000,366,2179,3191
$GC,78,-1.34,-97.8,2.1,-3.8,9,122,10.90,2.92,-25.73,0.000,4,0.147,0.059,2313,747,3883
$GC,148,-1.34,-97.8,5.6,-8.1,20,155,0.00,2.72,0.00,0.000,6,0.000,0.029,2313,2139,3884
$GC,219,-1.34,-97.8,10.9,-8.8,31,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2138,3885
$GC,285,-1.34,-97.8,18.0,-10.1,41,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2138,3885
$GC,360,-1.34,-97.8,24.4,-8.5,49,364,0.00,2.50,0.00,0.000,4,0.000,0.048,2313,3559,3886
$GC,444,-1.34,-97.8,31.6,-8.1,55,452,0.00,2.38,0.00,0.000,6,0.000,0.034,2313,2171,3887
$GC,641,-1.34,-97.8,46.2,-8.1,71,645,0.00,2.42,0.00,0.000,4,0.000,0.049,2313,3567,3887
$GC,733,-1.34,-97.8,53.9,-8.8,78,737,0.00,2.45,0.00,0.000,6,0.000,0.036,2313,2146,3888
$GC,937,-1.34,-97.8,70.4,-8.3,94,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2146,3887
$GC,1126,-1.34,-97.8,85.9,-8.3,109,1130,0.00,2.47,0.00,0.000,4,0.000,0.050,2313,3562,3888
$GC,1197,-1.34,-97.8,92.3,-8.8,114,1201,0.00,2.45,0.00,0.000,6,0.000,0.038,2313,2142,3888
$STATE,1297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1297,begin apogee
$GC,1301,-0.31,0.0,100.8,8.5,122,1383,1.12,0.00,76.10,0.737,6,0.094,0.000,2538,2023,3483
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,1.34,97.8,102.8,0.0,129,1468,1.73,0.00,74.22,0.719,6,0.064,0.000,2901,2023,3084
$GC,1656,1.34,97.8,73.3,12.8,151,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2023,3084
$GC,1845,1.34,97.8,50.6,11.0,166,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2023,3083
$GC,2035,1.34,97.8,31.1,9.9,181,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2023,3083
$GC,2227,1.34,97.8,10.4,11.2,202,2235,0.00,2.53,0.00,0.000,4,0.000,0.046,2901,3452,3083
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2338,begin surface coast
$FINISH,0.4,1.021030
$STATE,2379,end surface coast,CONTROL_FINISHED_OK
$STATE,2379,begin surface
$SM_CCo,2399,127.35,0.648,1,0,2057,350.04
$SM_GC,1.01,0.00,0.00,127.35,0.000,0.000,0.648,367,2162,2057,-10.32,0.34,350.04
$IRIDIUM_FIX,4722.92,-12249.11,210907,222218
$TT8_MAMPS,0.026845
$HUMID,2173
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.7,7.8
$ALTIM_BOTTOM_PING,85.9,29.1
$24V_AH,23.9,5.753
$10V_AH,10.2,3.069
$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,25.225,25.275,150.325,127.350,0.000,40.153,38.385,112.181,2.000,0.000,0.000,13.082,427.239,1371.459,389.636,380.086,247.493,33.337,619.804,0.000,374.120,0.000,7.158
$DEVICE_MAMPS,147.264,59.059,737.087,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6470,225
$CFSIZE,260034560,256733184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210907,201531,4739.624,-12251.431,37,1.0,37,18.3