version: 66.02
glider: 23
mission: 2
dive: 99
start: 9 23 107 21 11 21
data:
$ID,23
$MISSION,2
$DIVE,99
$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,-2
$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,-28984.25
$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,23
$R_STBD_OVSHOOT,45
$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
$GPS1,210633,4744.414,-12249.724,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.3
$GPS2,211015,4744.415,-12249.702,13,1.2,13,18.3
$SPEED_LIMITS,0.165,0.216
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.087,-0.197
$KALMAN_X,6350.3,31.1,-55.7,-2277.1,24.9
$KALMAN_Y,5910.5,113.4,75.6,2480.7,-7.7
$MHEAD_RNG_PITCHd_Wd,185.5,3194,-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,-61.75,0.000,2,0.000,0.000,366,2171,3311
$GC,86,-1.37,-122.2,2.0,-3.8,10,129,10.85,2.45,-26.92,0.000,4,0.147,0.061,2306,3554,3983
$GC,360,-1.37,-122.2,25.9,-8.9,48,364,0.00,2.38,0.00,0.000,6,0.000,0.035,2306,2152,3985
$GC,562,-1.37,-122.2,43.2,-8.6,64,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2153,3985
$GC,752,-1.37,-122.2,59.6,-8.8,79,756,0.00,2.40,0.00,0.000,4,0.000,0.050,2306,3543,3986
$GC,877,-1.37,-122.2,71.8,-9.8,88,881,0.00,2.38,0.00,0.000,6,0.000,0.036,2306,2144,3986
$GC,1081,-1.37,-122.2,90.4,-8.9,104,1085,0.00,2.42,0.00,0.000,4,0.000,0.051,2306,3539,3986
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1190,-0.31,0.0,100.7,10.1,111,1293,1.15,0.00,95.05,0.739,6,0.096,0.000,2537,2040,3482
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1295,1.37,122.2,102.6,0.0,120,1396,1.75,3.03,92.78,0.714,4,0.066,0.060,2905,647,2983
$GC,1409,1.37,122.2,92.8,12.5,129,1414,0.00,2.75,0.00,0.000,6,0.000,0.030,2905,2028,2983
$GC,1604,1.37,122.2,66.3,13.0,144,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2032,2983
$GC,1794,1.37,122.2,41.5,13.2,159,1798,0.00,2.90,0.00,0.000,4,0.000,0.060,2905,644,2983
$GC,1817,1.37,122.2,37.9,14.3,160,1826,0.00,2.80,0.00,0.000,6,0.000,0.029,2905,2054,2983
$GC,2017,1.37,122.2,12.4,12.1,180,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2057,2983
$GC,2087,1.37,122.2,4.9,10.1,191,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2056,2983
$STATE,2123,end climb,SURFACE_DEPTH_REACHED
$STATE,2123,begin surface coast
$FINISH,0.3,1.010092
$STATE,2144,end surface coast,CONTROL_FINISHED_OK
$STATE,2144,begin surface
$SM_CCo,2163,108.05,0.642,0,0,2056,350.04
$SM_GC,1.15,0.00,0.00,108.05,0.000,0.000,0.642,367,2178,2056,-10.32,0.79,350.04
$IRIDIUM_FIX,4729.30,-12249.89,240907,000005
$TT8_MAMPS,0.026845
$HUMID,2148
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.4
$ALTIM_BOTTOM_PING,85.9,999.0
$24V_AH,23.9,9.982
$10V_AH,10.2,4.313
$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,25.250,26.275,187.825,108.050,0.000,39.660,39.831,73.038,1.500,0.000,0.000,15.063,385.302,1166.466,393.745,362.664,218.508,33.353,620.013,0.000,355.322,0.000,8.674
$DEVICE_MAMPS,147.264,61.360,738.621,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,200
$CFSIZE,260034560,255229952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,215023,4744.192,-12249.812,9,2.4,28,18.3