version: 66.02
glider: 23
mission: 2
dive: 70
start: 9 22 107 22 31 12
data:
$ID,23
$MISSION,2
$DIVE,70
$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,80
$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,-28993.572
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2675
$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,26
$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
$GPS1,222539,4742.403,-12250.119,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.5
$GPS2,223008,4742.410,-12250.101,10,1.5,10,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.140
$KALMAN_X,6187.3,159.5,-113.5,-2681.8,27.6
$KALMAN_Y,6340.8,311.1,-342.6,-1441.5,-25.7
$MHEAD_RNG_PITCHd_Wd,300.4,953,-19.8,-8.333
$D_GRID,146
$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,-55.83,0.000,2,0.000,0.000,369,2136,3195
$GC,80,-1.34,-97.8,2.0,-3.6,9,129,11.18,2.88,-29.88,0.000,4,0.145,0.059,2377,728,3884
$GC,333,-1.34,-97.8,19.3,-6.8,48,340,0.00,2.80,0.00,0.000,6,0.000,0.031,2376,2158,3886
$GC,408,-1.34,-97.8,23.8,-5.6,55,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2158,3886
$GC,598,-1.34,-97.8,34.0,-5.2,70,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2157,3886
$GC,789,-1.34,-97.8,44.2,-5.5,85,793,0.00,2.42,0.00,0.000,4,0.000,0.051,2377,3565,3886
$GC,853,-1.34,-97.8,48.3,-6.2,89,861,0.00,2.40,0.00,0.000,6,0.000,0.034,2376,2151,3886
$GC,1049,-1.34,-97.8,58.9,-5.3,105,1054,0.00,2.88,0.00,0.000,4,0.000,0.052,2376,728,3886
$GC,1095,-1.34,-97.8,61.4,-5.6,108,1099,0.00,2.78,0.00,0.000,6,0.000,0.030,2376,2153,3887
$GC,1297,-1.34,-97.8,71.9,-5.3,124,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2151,3886
$GC,1487,-1.34,-97.8,81.9,-5.3,139,1491,0.00,2.45,0.00,0.000,4,0.000,0.052,2376,3569,3886
$GC,1591,-1.34,-97.8,88.1,-5.7,146,1598,0.00,2.40,0.00,0.000,6,0.000,0.035,2377,2153,3886
$GC,1787,-1.34,-97.8,98.5,-5.1,162,1791,0.00,2.45,0.00,0.000,4,0.000,0.053,2376,3566,3886
$STATE,1811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1811,begin apogee
$GC,1818,-0.31,0.0,100.1,6.3,164,1898,1.12,0.00,75.35,0.754,6,0.086,0.000,2606,2033,3483
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1901,1.34,97.8,100.6,0.0,171,1983,1.67,0.00,73.70,0.732,6,0.053,0.000,2968,2032,3084
$GC,2171,1.34,97.8,61.7,17.1,193,2175,0.00,2.47,0.00,0.000,4,0.000,0.043,2968,3463,3083
$GC,2315,1.34,97.8,37.6,16.1,204,2320,0.00,2.47,0.00,0.000,6,0.000,0.041,2968,2056,3082
$GC,2517,1.34,97.8,7.6,14.1,226,2523,0.00,2.42,0.00,0.000,4,0.000,0.044,2968,3455,3082
$STATE,2566,end climb,SURFACE_DEPTH_REACHED
$STATE,2566,begin surface coast
$FINISH,0.9,1.020491
$STATE,2581,end surface coast,CONTROL_FINISHED_OK
$STATE,2581,begin surface
$SM_CCo,2602,127.05,0.641,0,0,2057,350.04
$SM_GC,1.10,0.00,0.00,127.05,0.000,0.000,0.641,367,2133,2057,-10.62,-0.45,350.04
$IRIDIUM_FIX,4722.92,-12253.53,230907,010139
$TT8_MAMPS,0.026078
$HUMID,2111
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.3,8.3
$ALTIM_BOTTOM_PING,85.0,999.0
$24V_AH,23.9,8.006
$10V_AH,10.2,3.751
$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,25.775,35.750,149.050,127.050,0.000,41.341,49.252,111.992,1.500,0.000,0.000,11.984,453.605,1501.508,386.249,418.087,268.550,33.338,637.687,0.000,411.802,0.000,8.679
$DEVICE_MAMPS,144.963,59.059,753.961,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,236
$CFSIZE,260034560,255905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,231742,4742.566,-12250.331,11,1.6,20,18.3