version: 66.02
glider: 23
mission: 2
dive: 138
start: 9 25 107 9 29 48
data:
$ID,23
$MISSION,2
$DIVE,138
$D_SURF,5
$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,45
$T_MISSION,90
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28851.174
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,092333,4740.904,-12251.190,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.4
$GPS2,092826,4740.927,-12251.166,13,1.7,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.232,0.150
$KALMAN_X,7712.0,249.5,129.3,-5876.2,-58.1
$KALMAN_Y,6842.8,60.4,30.6,-4809.4,-93.8
$MHEAD_RNG_PITCHd_Wd,284.5,438,-8.8,-7.407
$D_GRID,99
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.64,-78.2,0.0,0.0,0,90,0.00,0.00,-67.70,0.000,2,0.000,0.000,369,2154,3500
$GC,93,-0.64,-78.2,2.1,-1.2,11,124,11.70,2.97,-10.68,0.000,4,0.147,0.059,2466,734,3804
$GC,262,-0.64,-78.2,8.3,-4.0,37,269,0.00,2.83,0.00,0.000,6,0.000,0.031,2466,2164,3805
$GC,335,-0.64,-78.2,10.8,-2.9,48,341,0.00,2.95,0.00,0.000,4,0.000,0.049,2466,721,3805
$GC,486,-0.64,-78.2,15.1,-2.9,71,493,0.00,2.83,0.00,0.000,6,0.000,0.030,2466,2158,3806
$GC,558,-0.64,-78.2,16.5,-1.6,82,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2158,3805
$GC,629,-0.64,-78.2,18.0,-1.9,93,636,0.00,2.92,0.00,0.000,4,0.000,0.048,2466,727,3806
$GC,793,-0.64,-78.2,22.4,-2.9,112,801,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2155,3807
$GC,989,-0.64,-78.2,28.1,-3.1,128,993,0.00,2.45,0.00,0.000,4,0.000,0.051,2466,3569,3807
$GC,1081,-0.64,-78.2,31.1,-3.6,135,1085,0.00,2.40,0.00,0.000,6,0.000,0.034,2466,2145,3806
$GC,1283,-0.64,-78.2,36.9,-3.2,151,1288,0.00,2.90,0.00,0.000,4,0.000,0.053,2466,726,3807
$GC,1374,-0.64,-78.2,39.8,-3.6,157,1382,0.00,2.83,0.00,0.000,6,0.000,0.031,2466,2149,3807
$GC,1571,-0.64,-78.2,46.1,-3.2,173,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2149,3807
$GC,1761,-0.64,-78.2,51.9,-2.9,188,1766,0.00,2.90,0.00,0.000,4,0.000,0.051,2466,732,3807
$GC,1812,-0.64,-78.2,53.7,-3.6,191,1819,0.00,2.83,0.00,0.000,6,0.000,0.031,2466,2152,3807
$GC,2009,-0.64,-78.2,59.6,-2.8,207,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2151,3807
$GC,2199,-0.64,-78.2,64.9,-2.7,222,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2151,3807
$GC,2392,-0.64,-78.2,70.3,-2.9,237,2397,0.00,2.90,0.00,0.000,4,0.000,0.051,2466,735,3805
$GC,2437,-0.64,-78.2,71.9,-3.7,240,2442,0.00,2.80,0.00,0.000,6,0.000,0.031,2466,2157,3807
$GC,2633,-0.64,-78.2,77.7,-2.7,255,2637,0.00,2.92,0.00,0.000,4,0.000,0.051,2466,728,3807
$GC,2692,-0.64,-78.2,79.5,-3.4,259,2696,0.00,2.80,0.00,0.000,6,0.000,0.031,2466,2154,3806
$STATE,2708,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2714,-0.31,0.0,80.3,3.7,260,2777,0.38,0.00,60.70,0.740,6,0.081,0.000,2541,1885,3483
$STATE,2778,end apogee,CONTROL_FINISHED_OK
$STATE,2778,begin climb
$GC,2780,0.64,78.2,81.3,0.0,265,2847,0.95,2.65,59.08,0.720,4,0.068,0.048,2746,3309,3164
$GC,2865,0.79,220.9,78.2,4.7,272,2984,0.12,2.55,107.97,0.700,6,0.041,0.036,2782,1912,2581
$GC,3173,0.79,220.9,57.9,7.5,297,3177,0.00,2.90,0.00,0.000,4,0.000,0.064,2782,489,2581
$GC,3298,0.79,220.9,47.5,8.2,306,3302,0.00,2.70,0.00,0.000,6,0.000,0.029,2782,1902,2580
$GC,3493,0.83,259.9,33.9,6.7,321,3530,0.00,2.97,28.62,0.690,4,0.000,0.061,2782,492,2423
$GC,3598,0.83,259.9,26.2,8.0,329,3602,0.00,2.70,0.00,0.000,6,0.000,0.029,2782,1903,2422
$GC,3798,0.85,278.8,10.3,7.0,353,3818,0.00,2.97,14.02,0.690,4,0.000,0.061,2784,492,2345
$GC,3877,1.02,433.8,6.5,4.4,365,3915,0.25,2.70,31.98,0.673,2,0.061,0.030,2838,1904,2169
$STATE,3916,end climb,SURFACE_DEPTH_REACHED
$STATE,3916,begin surface coast
$FINISH,2.1,1.020177
$STATE,3954,end surface coast,CONTROL_FINISHED_OK
$STATE,3954,begin surface
$SM_CCo,3974,16.48,0.696,1,0,2056,350.04
$SM_GC,1.29,0.00,0.00,16.48,0.000,0.000,0.696,367,2168,2056,-10.32,0.51,350.04
$IRIDIUM_FIX,4722.92,-12251.79,250907,121226
$TT8_MAMPS,0.026845
$HUMID,2169
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,37.1
$24V_AH,24.0,12.514
$10V_AH,10.2,5.172
$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,24.750,68.250,302.375,16.475,0.000,40.651,41.449,136.826,1.000,0.000,0.000,14.864,704.961,2205.375,423.894,678.091,321.219,33.338,830.329,0.000,662.547,0.000,6.980
$DEVICE_MAMPS,147.264,64.428,740.155,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,253.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9602,377
$CFSIZE,260034560,254156800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,103737,4741.130,-12251.342,25,1.0,31,18.3