version: 66.02
glider: 23
mission: 2
dive: 79
start: 9 23 107 6 39 39
data:
$ID,23
$MISSION,2
$DIVE,79
$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,30
$T_MISSION,70
$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,125
$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,-28994.258
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,063445,4744.151,-12249.767,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-71.0
$GPS2,063833,4744.137,-12249.769,14,1.5,14,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,0.221
$KALMAN_X,6131.0,-79.6,-10.6,-2076.0,9.8
$KALMAN_Y,6163.8,-313.6,112.8,2102.8,-41.0
$MHEAD_RNG_PITCHd_Wd,352.8,883,-22.8,-11.111
$D_GRID,172
$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,-1.56,-122.2,0.0,0.0,0,82,0.00,0.00,-61.83,0.000,2,0.000,0.000,369,2137,3299
$GC,85,-1.56,-122.2,2.1,-3.9,10,127,11.02,0.00,-24.77,0.000,6,0.149,0.000,2331,2137,3982
$GC,192,-1.56,-122.2,10.2,-10.2,27,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2138,3984
$GC,264,-1.56,-122.2,16.2,-8.4,38,271,0.00,2.47,0.00,0.000,4,0.000,0.050,2331,3564,3983
$GC,335,-1.56,-122.2,22.3,-8.3,47,342,0.00,2.42,0.00,0.000,6,0.000,0.034,2331,2147,3984
$GC,531,-1.56,-122.2,37.5,-7.8,63,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2147,3985
$GC,721,-1.56,-122.2,52.6,-8.1,78,725,0.00,2.47,0.00,0.000,4,0.000,0.051,2331,3569,3985
$GC,806,-1.56,-122.2,59.6,-7.9,84,810,0.00,2.40,0.00,0.000,6,0.000,0.036,2331,2150,3985
$GC,1008,-1.56,-122.2,75.7,-7.6,100,1012,0.00,2.47,0.00,0.000,4,0.000,0.052,2331,3573,3985
$GC,1040,-1.56,-122.2,78.3,-8.3,102,1047,0.00,2.40,0.00,0.000,6,0.000,0.036,2331,2151,3985
$GC,1235,-1.56,-122.2,93.2,-8.0,118,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2152,3985
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1326,-0.31,0.0,100.2,7.9,125,1426,1.35,0.00,95.55,0.737,6,0.090,0.000,2605,2022,3484
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1428,1.56,122.2,101.0,0.0,133,1526,1.85,0.00,92.72,0.719,6,0.053,0.000,3013,2021,2985
$GC,1708,1.56,122.2,53.3,20.6,156,1712,0.00,2.50,0.00,0.000,4,0.000,0.041,3013,3473,2984
$GC,1899,1.56,122.2,15.8,19.8,172,1906,0.00,2.47,0.00,0.000,6,0.000,0.043,3013,2071,2982
$GC,1972,1.56,122.2,2.6,17.1,183,1978,0.00,2.42,0.00,0.000,4,0.000,0.045,3013,3462,2982
$STATE,1982,end climb,SURFACE_DEPTH_REACHED
$STATE,1982,begin surface coast
$FINISH,0.3,1.015233
$STATE,1998,end surface coast,CONTROL_FINISHED_OK
$STATE,1998,begin surface
$SM_CCo,2019,108.82,0.641,0,0,2056,350.04
$SM_GC,0.98,0.00,0.00,108.82,0.000,0.000,0.641,368,2138,2056,-10.61,-0.34,350.04
$IRIDIUM_FIX,4726.11,-12252.58,230907,090943
$TT8_MAMPS,0.026845
$HUMID,2165
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.4
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,8.592
$10V_AH,10.2,3.938
$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,26.300,24.550,188.275,108.825,0.000,39.763,36.564,83.815,1.500,0.000,0.000,15.759,361.181,1071.837,399.702,336.364,219.210,33.346,613.744,0.000,328.875,0.000,8.675
$DEVICE_MAMPS,148.798,52.156,737.087,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6445,187
$CFSIZE,260034560,255692800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,071557,4744.338,-12249.719,9,1.4,9,18.3