version: 66.02
glider: 23
mission: 2
dive: 90
start: 9 23 107 14 22 38
data:
$ID,23
$MISSION,2
$DIVE,90
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$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,-28974.885
$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,41
$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
$GPS1,141332,4746.201,-12249.008,10,1.1,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.5
$GPS2,142139,4746.197,-12249.000,14,1.0,14,18.3
$SPEED_LIMITS,0.144,0.207
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,-0.190
$KALMAN_X,6459.0,37.0,38.5,-1612.4,56.2
$KALMAN_Y,5660.9,-145.5,-93.0,6461.5,21.5
$MHEAD_RNG_PITCHd_Wd,185.0,10117,-17.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.22,-122.2,0.0,0.0,0,89,0.00,0.00,-68.30,0.000,2,0.000,0.000,368,2178,3450
$GC,92,-1.22,-122.2,2.2,-4.5,11,129,11.05,2.42,-17.70,0.000,4,0.149,0.061,2339,3550,3984
$GC,379,-1.22,-122.2,26.9,-8.3,49,384,0.00,2.38,0.00,0.000,6,0.000,0.034,2339,2150,3985
$GC,581,-1.22,-122.2,42.3,-7.7,65,585,0.00,2.45,0.00,0.000,4,0.000,0.050,2339,3554,3986
$GC,838,-1.22,-122.2,64.1,-8.0,84,845,0.00,2.42,0.00,0.000,6,0.000,0.035,2339,2145,3986
$GC,1034,-1.22,-122.2,79.4,-7.9,100,1038,0.00,2.45,0.00,0.000,4,0.000,0.051,2339,3552,3987
$STATE,1283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1290,-0.31,0.0,100.2,8.2,119,1389,1.00,0.00,95.35,0.734,6,0.094,0.000,2538,2032,3483
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1390,begin climb
$GC,1392,1.22,122.2,102.1,0.0,127,1493,1.58,2.97,92.35,0.716,4,0.068,0.060,2871,648,2984
$GC,1545,1.22,122.2,88.4,11.7,139,1554,0.00,2.75,0.00,0.000,6,0.000,0.029,2870,2029,2984
$GC,1742,1.22,122.2,65.9,11.3,155,1746,0.00,2.90,0.00,0.000,4,0.000,0.058,2871,635,2984
$GC,1761,1.22,122.2,63.7,12.0,156,1768,0.00,2.80,0.00,0.000,6,0.000,0.031,2871,2061,2984
$GC,1956,1.22,122.2,41.4,11.0,172,1961,0.00,2.95,0.00,0.000,4,0.000,0.058,2871,638,2984
$GC,1988,1.22,122.2,37.5,12.2,174,1996,0.00,2.80,0.00,0.000,6,0.000,0.030,2871,2047,2984
$GC,2187,1.22,122.2,16.4,10.2,192,2193,0.00,2.92,0.00,0.000,4,0.000,0.059,2871,635,2984
$GC,2220,1.22,122.2,12.7,11.5,197,2226,0.00,2.78,0.00,0.000,6,0.000,0.031,2870,2054,2984
$GC,2292,1.22,126.4,5.9,8.1,208,2298,0.00,0.00,2.62,0.758,6,0.000,0.000,2870,2053,2968
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,0.3,1.000882
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2402,106.38,0.647,0,0,2057,350.04
$SM_GC,1.09,0.00,0.00,106.38,0.000,0.000,0.647,366,2166,2057,-10.32,0.45,350.04
$IRIDIUM_FIX,4729.30,-12248.15,230907,181855
$TT8_MAMPS,0.026845
$HUMID,2147
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.3,7.8
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,9.375
$10V_AH,10.2,4.144
$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,24.975,37.800,190.325,106.375,0.000,84.757,80.878,181.166,1.750,0.000,0.000,16.191,431.292,1334.705,396.959,441.606,417.677,33.333,664.197,0.000,431.703,0.000,8.677
$DEVICE_MAMPS,148.798,61.360,757.796,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6456,222
$CFSIZE,260034560,255438848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,150520,4746.102,-12249.219,7,1.7,12,18.3