version: 66.02
glider: 23
mission: 2
dive: 72
start: 9 23 107 0 19 6
data:
$ID,23
$MISSION,2
$DIVE,72
$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,-29019.771
$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,18
$R_STBD_OVSHOOT,29
$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
$GPS1,001027,4742.736,-12250.574,11,1.7,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.5
$GPS2,001801,4742.728,-12250.570,35,1.9,35,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,0.177
$KALMAN_X,6134.9,128.1,-12.7,-3284.0,16.5
$KALMAN_Y,6225.3,118.7,-107.4,-780.6,20.0
$MHEAD_RNG_PITCHd_Wd,359.8,3673,-19.8,-8.333
$D_GRID,160
$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,-97.8,0.0,0.0,0,76,0.00,0.00,-56.08,0.000,2,0.000,0.000,364,2146,3207
$GC,79,-1.34,-97.8,2.1,-4.2,9,122,11.27,2.88,-25.70,0.000,4,0.148,0.059,2378,734,3883
$GC,247,-1.34,-97.8,13.7,-6.7,35,254,0.00,2.78,0.00,0.000,6,0.000,0.030,2378,2153,3886
$GC,319,-1.34,-97.8,17.4,-5.0,46,326,0.00,2.45,0.00,0.000,4,0.000,0.050,2378,3566,3886
$GC,389,-1.34,-97.8,21.3,-5.9,55,397,0.00,2.42,0.00,0.000,6,0.000,0.033,2378,2146,3886
$GC,586,-1.34,-97.8,31.2,-4.9,71,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2146,3887
$GC,776,-1.34,-97.8,41.1,-5.7,86,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2146,3887
$GC,965,-1.34,-97.8,51.2,-5.4,101,970,0.00,2.85,0.00,0.000,4,0.000,0.051,2378,735,3887
$GC,1002,-1.34,-97.8,53.3,-5.6,103,1010,0.00,2.80,0.00,0.000,6,0.000,0.029,2380,2155,3887
$GC,1199,-1.34,-97.8,63.5,-5.3,119,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2155,3887
$GC,1389,-1.34,-97.8,73.5,-5.2,134,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2154,3887
$GC,1578,-1.34,-97.8,83.6,-5.2,149,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2154,3887
$GC,1767,-1.34,-97.8,93.5,-5.2,164,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2154,3887
$STATE,1891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1891,begin apogee
$GC,1896,-0.31,0.0,100.0,5.2,174,1978,1.10,0.00,75.95,0.739,6,0.087,0.000,2603,2021,3484
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1981,1.34,97.8,100.2,0.0,181,2059,1.65,0.00,73.97,0.723,6,0.055,0.000,2963,2021,3085
$GC,2241,1.34,97.8,63.4,17.1,202,2246,0.00,2.50,0.00,0.000,4,0.000,0.043,2963,3463,3084
$GC,2386,1.34,97.8,39.7,15.9,213,2391,0.00,2.45,0.00,0.000,6,0.000,0.040,2963,2070,3083
$GC,2586,1.34,97.8,9.9,15.0,233,2592,0.00,2.42,0.00,0.000,4,0.000,0.044,2963,3468,3083
$STATE,2662,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.4,1.020901
$STATE,2683,end surface coast,CONTROL_FINISHED_OK
$STATE,2683,begin surface
$SM_CCo,2703,124.18,0.642,0,0,2056,350.04
$SM_GC,0.95,0.00,0.00,124.18,0.000,0.000,0.642,365,2136,2056,-10.63,-0.40,350.04
$IRIDIUM_FIX,4722.92,-12249.11,230907,040449
$TT8_MAMPS,0.026078
$HUMID,2134
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,8.4
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,8.137
$10V_AH,10.2,3.794
$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,25.800,26.050,149.925,124.175,0.000,75.092,138.959,88.470,1.750,0.000,0.000,37.025,467.104,1663.782,376.613,438.580,367.112,33.345,622.958,0.000,408.065,0.000,8.677
$DEVICE_MAMPS,148.031,59.059,739.388,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6456,248
$CFSIZE,260034560,255856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,010728,4742.946,-12250.486,13,2.4,32,18.3