version: 66.02
glider: 23
mission: 2
dive: 92
start: 9 23 107 16 2 12
data:
$ID,23
$MISSION,2
$DIVE,92
$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,-28966.062
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,155650,4745.978,-12249.434,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.8
$GPS2,160114,4745.979,-12249.440,13,1.5,13,18.3
$SPEED_LIMITS,0.144,0.207
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,-0.207
$KALMAN_X,6241.2,60.8,54.5,-1978.3,-50.2
$KALMAN_Y,6009.4,-81.0,-21.5,5566.5,171.4
$MHEAD_RNG_PITCHd_Wd,158.9,2560,-17.3,-8.333
$D_GRID,167
$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,-122.2,0.0,0.0,0,88,0.00,0.00,-66.75,0.000,2,0.000,0.000,365,2167,3417
$GC,91,-1.22,-122.2,2.2,-4.6,11,128,11.07,2.92,-19.40,0.000,4,0.148,0.060,2341,744,3982
$GC,357,-1.22,-122.2,24.9,-8.5,47,366,0.00,2.75,0.00,0.000,6,0.000,0.030,2341,2126,3983
$GC,554,-1.22,-122.2,39.4,-7.4,63,558,0.00,2.50,0.00,0.000,4,0.000,0.051,2341,3569,3983
$GC,639,-1.22,-122.2,46.2,-7.8,69,646,0.00,2.40,0.00,0.000,6,0.000,0.035,2341,2160,3984
$GC,835,-1.22,-122.2,61.2,-7.8,85,839,0.00,2.47,0.00,0.000,4,0.000,0.051,2342,3568,3984
$GC,893,-1.22,-122.2,66.1,-8.4,89,901,0.00,2.42,0.00,0.000,6,0.000,0.035,2341,2151,3984
$GC,1089,-1.22,-122.2,81.1,-7.6,105,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2151,3984
$GC,1279,-1.22,-122.2,95.4,-7.5,120,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2151,3984
$STATE,1340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1340,begin apogee
$GC,1344,-0.31,0.0,100.3,7.6,125,1443,0.98,0.00,94.90,0.739,6,0.092,0.000,2536,2034,3483
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1444,begin climb
$GC,1446,1.22,122.2,102.1,0.0,133,1547,1.60,2.97,92.40,0.719,4,0.071,0.060,2872,656,2985
$GC,1572,1.22,122.2,91.5,12.5,143,1581,0.00,2.80,0.00,0.000,6,0.000,0.029,2872,2055,2984
$GC,1769,1.22,122.2,68.7,11.4,159,1774,0.00,2.92,0.00,0.000,4,0.000,0.058,2872,649,2984
$GC,1808,1.22,122.2,63.8,13.0,162,1813,0.00,2.78,0.00,0.000,6,0.000,0.029,2872,2060,2984
$GC,2010,1.22,122.2,40.9,11.0,178,2015,0.00,2.95,0.00,0.000,4,0.000,0.059,2872,647,2984
$GC,2036,1.22,122.2,37.9,11.6,180,2041,0.00,2.80,0.00,0.000,6,0.000,0.030,2872,2053,2984
$GC,2233,1.22,122.2,16.4,11.0,198,2240,0.00,2.92,0.00,0.000,4,0.000,0.059,2872,652,2984
$GC,2265,1.22,122.2,12.8,11.2,203,2272,0.00,2.78,0.00,0.000,6,0.000,0.032,2872,2058,2984
$GC,2338,1.22,122.2,6.0,8.9,214,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2057,2984
$STATE,2394,end climb,SURFACE_DEPTH_REACHED
$STATE,2394,begin surface coast
$FINISH,0.3,1.000674
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2448,108.60,0.650,0,0,2057,350.04
$SM_GC,1.01,0.00,0.00,108.60,0.000,0.000,0.650,366,2163,2057,-10.32,0.37,350.04
$IRIDIUM_FIX,4729.30,-12252.58,230907,191913
$TT8_MAMPS,0.026845
$HUMID,2169
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,85.9,999.0
$24V_AH,23.9,9.519
$10V_AH,10.2,4.185
$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,25.000,38.725,187.300,108.600,0.000,34.956,42.344,115.971,1.250,0.000,0.000,15.159,431.560,1349.569,401.053,406.784,256.030,33.336,659.376,0.000,398.889,0.000,8.671
$DEVICE_MAMPS,148.031,59.826,739.388,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6464,228
$CFSIZE,260034560,255389696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,164607,4745.739,-12249.403,37,1.5,37,18.3