version: 66.02
glider: 23
mission: 2
dive: 91
start: 9 23 107 15 13 49
data:
$ID,23
$MISSION,2
$DIVE,91
$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,-28970.9
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,150520,4746.102,-12249.219,7,1.7,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.6
$GPS2,151251,4746.103,-12249.219,14,2.0,14,18.3
$SPEED_LIMITS,0.144,0.207
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.060,-0.198
$KALMAN_X,6384.5,44.6,45.7,-1821.0,27.0
$KALMAN_Y,5844.2,-107.4,-62.8,6028.5,90.1
$MHEAD_RNG_PITCHd_Wd,178.5,9869,-17.3,-8.333
$D_GRID,165
$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,20,-1.22,-122.2,0.0,0.0,0,89,0.00,0.00,-67.47,0.000,2,0.000,0.000,366,2166,3428
$GC,92,-1.22,-122.2,2.2,-4.1,11,129,11.05,2.40,-18.90,0.000,4,0.148,0.060,2340,3552,3983
$GC,380,-1.22,-122.2,26.5,-8.3,49,384,0.00,2.38,0.00,0.000,6,0.000,0.034,2341,2148,3985
$GC,582,-1.22,-122.2,41.7,-7.4,65,586,0.00,2.45,0.00,0.000,4,0.000,0.048,2339,3556,3986
$GC,838,-1.22,-122.2,63.1,-8.2,84,846,0.00,2.40,0.00,0.000,6,0.000,0.035,2340,2153,3986
$GC,1034,-1.22,-122.2,78.0,-7.6,100,1039,0.00,2.45,0.00,0.000,4,0.000,0.050,2340,3565,3986
$GC,1291,-1.22,-122.2,99.2,-8.0,119,1299,0.00,2.42,0.00,0.000,6,0.000,0.036,2340,2146,3986
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1313,-0.31,0.0,100.7,7.6,121,1412,1.00,0.00,95.15,0.739,6,0.091,0.000,2540,2031,3483
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,1.22,122.2,102.1,0.0,129,1516,1.58,2.97,92.40,0.716,4,0.068,0.061,2872,651,2984
$GC,1536,1.22,122.2,92.2,11.9,139,1541,0.00,2.75,0.00,0.000,6,0.000,0.029,2872,2044,2984
$GC,1738,1.22,122.2,69.0,11.4,155,1743,0.00,2.90,0.00,0.000,4,0.000,0.058,2872,655,2983
$GC,1770,1.22,122.2,64.9,12.7,157,1775,0.00,2.75,0.00,0.000,6,0.000,0.029,2872,2051,2984
$GC,1972,1.22,122.2,41.7,11.0,173,1977,0.00,2.90,0.00,0.000,4,0.000,0.059,2872,655,2984
$GC,1998,1.22,122.2,38.6,12.0,175,2003,0.00,2.75,0.00,0.000,6,0.000,0.030,2872,2057,2984
$GC,2195,1.22,122.2,17.2,10.4,192,2202,0.00,2.92,0.00,0.000,4,0.000,0.058,2872,650,2984
$GC,2227,1.22,122.2,13.6,11.2,197,2234,0.00,2.78,0.00,0.000,6,0.000,0.031,2872,2059,2984
$GC,2300,1.22,122.2,6.6,8.7,208,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2057,2984
$STATE,2369,end climb,SURFACE_DEPTH_REACHED
$STATE,2369,begin surface coast
$FINISH,0.3,1.001530
$STATE,2403,end surface coast,CONTROL_FINISHED_OK
$STATE,2403,begin surface
$SM_CCo,2422,108.12,0.647,0,0,2056,350.04
$SM_GC,1.06,0.00,0.00,108.12,0.000,0.000,0.647,366,2167,2056,-10.33,0.48,350.04
$IRIDIUM_FIX,4729.30,-12247.19,230907,191940
$TT8_MAMPS,0.026845
$HUMID,2151
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,7.8
$ALTIM_BOTTOM_PING,85.1,999.0
$24V_AH,23.9,9.450
$10V_AH,10.2,4.166
$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,24.975,37.550,187.550,108.125,0.000,78.560,68.563,167.024,1.500,0.000,0.000,16.205,434.382,1349.205,392.730,446.523,383.199,33.336,662.939,0.000,435.007,0.000,8.677
$DEVICE_MAMPS,148.031,60.593,738.621,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6456,224
$CFSIZE,260034560,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,155650,4745.978,-12249.434,9,1.5,9,18.3