version: 66.02
glider: 23
mission: 2
dive: 96
start: 9 23 107 19 3 31
data:
$ID,23
$MISSION,2
$DIVE,96
$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,-28955.629
$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,44
$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
$GPS1,185839,4745.052,-12249.515,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.3
$GPS2,190232,4745.059,-12249.513,10,1.8,15,18.3
$SPEED_LIMITS,0.165,0.216
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.015,-0.215
$KALMAN_X,6268.2,46.4,-46.0,-1983.3,-28.2
$KALMAN_Y,5804.6,69.0,162.9,3735.7,-13.0
$MHEAD_RNG_PITCHd_Wd,165.7,856,-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,-61.95,0.000,2,0.000,0.000,366,2170,3310
$GC,86,-1.37,-122.2,2.0,-3.7,10,128,10.85,0.00,-25.75,0.000,6,0.148,0.000,2306,2170,3982
$GC,193,-1.37,-122.2,10.1,-11.6,27,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2171,3984
$GC,264,-1.37,-122.2,17.1,-9.5,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2171,3983
$GC,329,-1.37,-122.2,22.8,-8.8,46,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2171,3984
$GC,521,-1.37,-122.2,38.6,-8.3,61,525,0.00,2.38,0.00,0.000,4,0.000,0.051,2307,3548,3985
$GC,647,-1.37,-122.2,50.1,-9.2,70,651,0.00,2.33,0.00,0.000,6,0.000,0.035,2306,2164,3985
$GC,842,-1.37,-122.2,67.6,-8.9,85,846,0.00,2.40,0.00,0.000,4,0.000,0.050,2307,3549,3985
$GC,961,-1.37,-122.2,79.1,-9.6,94,965,0.00,2.35,0.00,0.000,6,0.000,0.036,2306,2151,3985
$GC,1162,-1.37,-122.2,97.4,-8.7,110,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2151,3985
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1203,-0.31,0.0,100.8,8.9,113,1302,1.17,0.00,95.35,0.732,6,0.094,0.000,2541,2017,3484
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1304,1.37,122.2,102.6,0.0,121,1402,1.70,0.00,93.07,0.716,6,0.066,0.000,2908,2017,2984
$GC,1584,1.37,122.2,70.3,13.7,144,1589,0.00,2.85,0.00,0.000,4,0.000,0.061,2907,659,2984
$GC,1608,1.37,122.2,66.5,14.6,145,1617,0.00,2.72,0.00,0.000,6,0.000,0.029,2908,2025,2984
$GC,1805,1.37,122.2,40.4,13.3,161,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2028,2983
$GC,1996,1.37,122.2,15.9,12.2,178,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2028,2983
$GC,2068,1.37,122.2,7.5,11.5,189,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2028,2983
$STATE,2124,end climb,SURFACE_DEPTH_REACHED
$STATE,2124,begin surface coast
$FINISH,0.3,1.006630
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2172,107.20,0.640,0,0,2056,350.04
$SM_GC,1.03,0.00,0.00,107.20,0.000,0.000,0.640,366,2176,2056,-10.32,0.74,350.04
$IRIDIUM_FIX,4726.11,-12245.46,230907,222224
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,85.2,999.0
$24V_AH,23.9,9.785
$10V_AH,10.2,4.258
$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,25.225,15.450,188.425,107.200,0.000,39.230,35.589,84.803,1.500,0.000,0.000,16.568,388.991,1181.595,392.517,353.756,220.823,33.356,612.482,0.000,345.188,0.000,8.675
$DEVICE_MAMPS,148.031,61.360,732.485,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6466,202
$CFSIZE,260034560,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,194237,4744.820,-12249.531,10,2.0,26,18.3