version: 66.02
glider: 23
mission: 2
dive: 39
start: 9 21 107 23 0 11
data:
$ID,23
$MISSION,2
$DIVE,39
$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,-28920.729
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,224539,4739.655,-12252.027,11,1.4,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.0
$GPS2,225907,4739.683,-12251.927,12,1.7,28,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.065
$KALMAN_X,3814.4,1.2,-11.9,-2531.0,170.7
$KALMAN_Y,1706.4,56.8,30.5,-1977.6,92.7
$MHEAD_RNG_PITCHd_Wd,231.4,1640,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-61.80,0.000,2,0.000,0.000,364,2187,3314
$GC,84,-1.34,-97.8,2.2,-4.3,10,122,10.90,2.38,-19.90,0.000,4,0.147,0.059,2314,3560,3883
$GC,319,-1.34,-97.8,20.0,-7.3,46,326,0.00,2.42,0.00,0.000,6,0.000,0.033,2314,2146,3885
$GC,389,-1.34,-97.8,25.0,-7.0,52,393,0.00,2.45,0.00,0.000,4,0.000,0.047,2314,3554,3887
$GC,433,-1.34,-97.8,28.3,-7.5,55,441,0.00,2.40,0.00,0.000,6,0.000,0.032,2314,2153,3887
$GC,631,-1.34,-97.8,42.7,-8.1,71,635,0.00,2.45,0.00,0.000,4,0.000,0.048,2314,3557,3888
$GC,681,-1.34,-97.8,47.0,-8.4,74,689,0.00,2.42,0.00,0.000,6,0.000,0.035,2314,2151,3888
$GC,878,-1.34,-97.8,61.9,-7.8,90,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2150,3888
$GC,1067,-1.34,-97.8,77.4,-8.4,105,1072,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3558,3888
$GC,1217,-1.34,-97.8,91.0,-8.8,116,1225,0.00,2.45,0.00,0.000,6,0.000,0.036,2314,2145,3888
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1341,-0.31,0.0,100.1,7.1,126,1424,1.12,0.00,76.12,0.734,6,0.092,0.000,2539,2024,3483
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1426,1.34,97.8,101.3,0.0,133,1512,1.67,2.92,73.57,0.716,4,0.064,0.058,2898,657,3085
$GC,1537,1.34,97.8,92.0,12.3,142,1542,0.00,2.72,0.00,0.000,6,0.000,0.030,2898,2022,3085
$GC,1739,1.34,97.8,67.7,11.8,158,1744,0.00,2.55,0.00,0.000,4,0.000,0.046,2898,3464,3084
$GC,1797,1.34,97.8,60.5,12.3,162,1805,0.00,2.45,0.00,0.000,6,0.000,0.039,2898,2069,3084
$GC,1993,1.34,97.8,38.0,11.1,178,1998,0.00,2.95,0.00,0.000,4,0.000,0.061,2898,633,3084
$GC,2011,1.34,97.8,35.7,11.7,179,2020,0.00,2.83,0.00,0.000,6,0.000,0.029,2898,2069,3084
$GC,2210,1.34,97.8,13.1,11.0,199,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2071,3084
$GC,2282,1.34,100.7,6.0,8.2,210,2288,0.00,0.00,1.85,0.778,6,0.000,0.000,2898,2070,3072
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2339,begin surface coast
$FINISH,0.4,1.021200
$STATE,2373,end surface coast,CONTROL_FINISHED_OK
$STATE,2373,begin surface
$SM_CCo,2391,124.93,0.644,1,0,2057,350.04
$SM_GC,0.98,0.00,0.00,124.93,0.000,0.000,0.644,366,2180,2057,-10.32,0.85,350.04
$IRIDIUM_FIX,4722.92,-12251.79,220907,020207
$TT8_MAMPS,0.026078
$HUMID,2153
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,8.4
$ALTIM_BOTTOM_PING,85.0,999.0
$24V_AH,23.9,6.034
$10V_AH,10.2,3.155
$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,25.200,36.175,151.550,124.925,0.000,154.006,243.931,139.342,1.750,0.000,0.000,29.847,430.879,1505.272,398.650,420.903,604.258,33.343,651.996,0.000,396.931,0.000,8.681
$DEVICE_MAMPS,147.264,60.593,777.738,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6447,224
$CFSIZE,260034560,256630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210907,234303,4739.646,-12252.183,10,1.8,10,18.3