version: 66.02
glider: 23
mission: 2
dive: 95
start: 9 23 107 18 20 1
data:
$ID,23
$MISSION,2
$DIVE,95
$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,35
$T_MISSION,80
$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,-28955.857
$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,37
$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
$GPS1,181502,4745.279,-12249.460,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.1
$GPS2,181902,4745.288,-12249.457,12,1.3,12,18.3
$SPEED_LIMITS,0.165,0.216
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.024,-0.214
$KALMAN_X,6275.7,45.5,-35.2,-1931.7,-12.9
$KALMAN_Y,5799.5,51.6,165.6,4182.0,-9.6
$MHEAD_RNG_PITCHd_Wd,168.2,1286,-19.8,-9.524
$D_GRID,173
$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,-1.37,-122.2,0.0,0.0,0,83,0.00,0.00,-62.00,0.000,2,0.000,0.000,363,2169,3309
$GC,86,-1.37,-122.2,2.1,-3.6,10,129,10.85,2.40,-25.90,0.000,4,0.146,0.062,2307,3551,3983
$GC,135,-1.37,-122.2,3.9,-5.3,18,142,0.00,2.35,0.00,0.000,6,0.000,0.032,2307,2159,3983
$GC,207,-1.37,-122.2,11.6,-10.5,29,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2159,3983
$GC,273,-1.37,-122.2,17.8,-8.6,39,279,0.00,2.42,0.00,0.000,4,0.000,0.048,2306,3555,3983
$GC,365,-1.37,-122.2,26.1,-9.3,48,369,0.00,2.40,0.00,0.000,6,0.000,0.035,2307,2152,3984
$GC,566,-1.37,-122.2,43.4,-8.8,64,571,0.00,2.42,0.00,0.000,4,0.000,0.049,2307,3543,3985
$GC,698,-1.37,-122.2,55.8,-9.5,74,703,0.00,2.38,0.00,0.000,6,0.000,0.036,2307,2142,3985
$GC,900,-1.37,-122.2,74.5,-9.1,90,904,0.00,2.45,0.00,0.000,4,0.000,0.050,2307,3545,3985
$GC,1050,-1.37,-122.2,89.4,-9.7,101,1060,0.00,2.42,0.00,0.000,6,0.000,0.037,2307,2144,3985
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1175,-0.31,0.0,100.7,9.4,111,1274,1.17,0.00,95.30,0.735,6,0.094,0.000,2541,2026,3484
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1276,1.37,122.2,102.7,0.0,119,1377,1.70,2.95,92.60,0.717,4,0.065,0.060,2903,662,2984
$GC,1397,1.37,122.2,92.0,13.1,129,1402,0.00,2.72,0.00,0.000,6,0.000,0.029,2903,2035,2984
$GC,1599,1.37,122.2,65.2,13.3,145,1604,0.00,2.90,0.00,0.000,4,0.000,0.059,2903,655,2983
$GC,1625,1.37,122.2,61.6,13.9,147,1630,0.00,2.78,0.00,0.000,6,0.000,0.030,2903,2059,2983
$GC,1827,1.37,122.2,34.6,13.5,163,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2062,2984
$GC,2019,1.37,122.2,10.9,11.3,183,2026,0.00,2.92,0.00,0.000,4,0.000,0.058,2903,655,2983
$GC,2039,1.37,122.2,8.7,11.5,186,2046,0.00,2.78,0.00,0.000,6,0.000,0.031,2903,2061,2983
$STATE,2109,end climb,SURFACE_DEPTH_REACHED
$STATE,2110,begin surface coast
$FINISH,0.4,1.002594
$STATE,2137,end surface coast,CONTROL_FINISHED_OK
$STATE,2137,begin surface
$SM_CCo,2156,107.20,0.644,0,0,2057,350.04
$SM_GC,1.12,0.00,0.00,107.20,0.000,0.000,0.644,366,2170,2057,-10.32,0.57,350.04
$IRIDIUM_FIX,4729.30,-12252.58,230907,212101
$TT8_MAMPS,0.026845
$HUMID,2152
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,7.9
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,9.719
$10V_AH,10.2,4.240
$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,25.200,36.625,187.900,107.200,0.000,41.356,32.095,98.016,1.500,0.000,0.000,13.978,393.302,1135.198,391.464,378.806,230.531,33.350,637.027,0.000,371.178,0.000,8.684
$DEVICE_MAMPS,146.497,62.127,734.786,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,201
$CFSIZE,260034560,255320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,185839,4745.052,-12249.515,13,1.2,13,18.3