version: 66.02
glider: 23
mission: 2
dive: 38
start: 9 21 107 22 2 37
data:
$ID,23
$MISSION,2
$DIVE,38
$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,-28912.496
$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,49
$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
$GPS1,215002,4739.680,-12251.855,11,1.7,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.7
$GPS2,220133,4739.709,-12251.771,14,1.5,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.062
$KALMAN_X,3680.0,2.7,-101.6,-2113.9,166.7
$KALMAN_Y,1623.0,18.5,50.3,-1829.1,86.1
$MHEAD_RNG_PITCHd_Wd,232.1,1842,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,83,0.00,0.00,-62.35,0.000,2,0.000,0.000,365,2179,3329
$GC,85,-1.34,-97.8,2.1,-4.4,10,123,10.90,2.40,-18.60,0.000,4,0.146,0.060,2315,3549,3885
$GC,241,-1.34,-97.8,13.3,-6.5,34,248,0.00,2.40,0.00,0.000,6,0.000,0.031,2314,2151,3887
$GC,313,-1.34,-97.8,17.9,-6.6,45,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2151,3888
$GC,382,-1.34,-97.8,22.9,-7.1,53,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2151,3889
$GC,573,-1.34,-97.8,36.8,-7.9,68,577,0.00,2.42,0.00,0.000,4,0.000,0.048,2314,3538,3889
$GC,605,-1.34,-97.8,39.4,-7.7,70,609,0.00,2.35,0.00,0.000,6,0.000,0.034,2315,2151,3889
$GC,806,-1.34,-97.8,55.3,-7.8,86,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2152,3890
$GC,996,-1.34,-97.8,71.1,-7.9,101,1001,0.00,2.42,0.00,0.000,4,0.000,0.048,2314,3538,3890
$GC,1073,-1.34,-97.8,78.4,-9.2,106,1081,0.00,2.40,0.00,0.000,6,0.000,0.035,2314,2149,3890
$GC,1269,-1.34,-97.8,95.7,-8.8,122,1274,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3528,3890
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1327,-0.31,0.0,100.3,9.2,126,1408,1.12,0.00,76.55,0.729,6,0.093,0.000,2539,2046,3483
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1411,1.34,97.8,102.5,0.0,133,1496,1.70,3.00,73.88,0.717,4,0.066,0.059,2898,645,3084
$GC,1509,1.34,97.8,95.6,10.9,141,1513,0.00,2.72,0.00,0.000,6,0.000,0.030,2898,2025,3084
$GC,1710,1.34,97.8,72.4,11.5,157,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2027,3084
$GC,1900,1.34,97.8,51.4,11.2,172,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2027,3083
$GC,2089,1.34,97.8,30.5,10.8,187,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2027,3084
$GC,2284,1.34,97.8,8.8,10.6,209,2290,0.00,2.53,0.00,0.000,4,0.000,0.048,2898,3471,3083
$GC,2342,1.35,107.1,3.5,7.8,218,2355,0.00,2.50,6.75,0.716,6,0.000,0.040,2898,2047,3046
$STATE,2366,end climb,SURFACE_DEPTH_REACHED
$STATE,2366,begin surface coast
$FINISH,0.4,1.020948
$STATE,2394,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2413,116.88,0.640,0,0,2057,350.04
$SM_GC,0.96,0.00,0.00,116.88,0.000,0.000,0.640,363,2187,2057,-10.34,1.05,350.04
$IRIDIUM_FIX,4726.11,-12250.84,220907,010111
$TT8_MAMPS,0.026845
$HUMID,2155
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.4,8.4
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,5.956
$10V_AH,10.2,3.131
$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,25.225,30.400,157.175,116.875,0.000,119.178,200.273,177.726,2.000,0.000,0.000,15.853,432.863,1493.059,372.949,388.540,564.340,33.350,615.466,0.000,379.296,0.000,8.678
$DEVICE_MAMPS,146.497,59.826,729.417,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,226
$CFSIZE,260034560,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,224539,4739.655,-12252.027,11,1.4,11,18.3