version: 66.02
glider: 23
mission: 2
dive: 139
start: 9 25 107 10 47 6
data:
$ID,23
$MISSION,2
$DIVE,139
$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,-28838.211
$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,19
$R_STBD_OVSHOOT,37
$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
$GPS1,103737,4741.130,-12251.342,25,1.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.5
$GPS2,104544,4741.189,-12251.319,14,1.0,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.209,-0.181
$KALMAN_X,8120.0,309.1,17.5,-6423.9,88.2
$KALMAN_Y,6929.3,91.3,-34.7,-4382.9,-83.3
$MHEAD_RNG_PITCHd_Wd,210.8,416,-8.8,-7.407
$D_GRID,102
$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,-78.2,0.0,0.0,0,71,0.00,0.00,-48.67,0.000,2,0.000,0.000,367,2168,3087
$GC,74,-0.64,-78.2,2.1,-3.3,8,123,11.68,2.97,-29.95,0.000,4,0.146,0.058,2467,728,3804
$GC,150,-0.64,-78.2,3.8,-4.0,20,156,0.00,2.80,0.00,0.000,6,0.000,0.029,2467,2147,3805
$GC,222,-0.64,-78.2,7.4,-5.1,31,228,0.00,2.45,0.00,0.000,4,0.000,0.050,2467,3561,3805
$GC,386,-0.64,-78.2,13.2,-2.5,56,393,0.00,2.38,0.00,0.000,6,0.000,0.032,2467,2143,3806
$GC,458,-0.64,-78.2,15.0,-3.1,67,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2143,3806
$GC,531,-0.64,-78.2,16.6,-2.0,78,537,0.00,2.47,0.00,0.000,4,0.000,0.049,2467,3567,3806
$GC,644,-0.64,-78.2,18.8,-1.8,95,650,0.00,2.38,0.00,0.000,6,0.000,0.033,2467,2152,3807
$GC,716,-0.64,-78.2,19.6,-0.9,106,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2152,3807
$GC,794,-0.64,-78.2,20.8,-1.7,115,798,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,723,3807
$GC,905,-0.64,-78.2,22.8,-2.3,123,910,0.00,2.83,0.00,0.000,6,0.000,0.030,2467,2162,3807
$GC,1101,-0.64,-78.2,27.1,-2.5,138,1105,0.00,2.92,0.00,0.000,4,0.000,0.049,2467,734,3808
$GC,1165,-0.64,-78.2,28.8,-2.6,142,1173,0.00,2.83,0.00,0.000,6,0.000,0.030,2467,2152,3809
$GC,1362,-0.64,-78.2,34.0,-2.5,158,1366,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,736,3808
$GC,1399,-0.64,-78.2,35.0,-2.6,160,1407,0.00,2.83,0.00,0.000,6,0.000,0.030,2467,2155,3808
$GC,1596,-0.64,-78.2,40.0,-2.6,176,1600,0.00,2.92,0.00,0.000,4,0.000,0.050,2467,729,3808
$GC,1655,-0.64,-78.2,41.8,-3.4,180,1659,0.00,2.80,0.00,0.000,6,0.000,0.031,2467,2150,3808
$GC,1850,-0.64,-78.2,47.3,-2.7,195,1854,0.00,2.45,0.00,0.000,4,0.000,0.052,2467,3565,3808
$GC,1929,-0.64,-78.2,49.8,-3.1,201,1933,0.00,2.38,0.00,0.000,6,0.000,0.035,2467,2151,3808
$GC,2124,-0.64,-78.2,55.0,-2.5,216,2129,0.00,2.90,0.00,0.000,4,0.000,0.054,2467,725,3808
$GC,2176,-0.64,-78.2,56.4,-3.0,219,2183,0.00,2.83,0.00,0.000,6,0.000,0.031,2467,2149,3808
$GC,2372,-0.64,-78.2,61.3,-2.5,235,2376,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,724,3808
$GC,2410,-0.64,-78.2,62.3,-2.5,237,2417,0.00,2.83,0.00,0.000,6,0.000,0.031,2467,2145,3808
$GC,2606,-0.64,-78.2,67.2,-2.6,253,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2146,3808
$STATE,2705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.31,0.0,69.7,2.7,261,2774,0.35,0.00,60.83,0.726,6,0.082,0.000,2538,1880,3483
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2777,0.64,78.2,70.3,0.0,266,2843,0.98,2.65,58.75,0.706,4,0.071,0.048,2745,3310,3164
$GC,2862,0.74,174.2,66.7,5.6,272,2943,0.12,2.53,71.95,0.693,6,0.053,0.036,2777,1908,2774
$GC,3131,0.78,211.5,49.6,6.7,294,3168,0.00,2.95,28.42,0.694,4,0.000,0.062,2777,484,2620
$GC,3278,0.78,211.5,38.6,7.7,305,3286,0.00,2.75,0.00,0.000,6,0.000,0.030,2777,1906,2619
$GC,3475,0.84,261.2,25.5,6.5,321,3516,0.00,2.95,36.20,0.676,4,0.000,0.061,2777,487,2419
$GC,3590,0.89,308.4,18.1,6.5,331,3634,0.12,2.72,35.35,0.670,6,0.077,0.029,2801,1913,2225
$GC,3699,0.93,349.5,10.5,6.6,348,3737,0.00,2.97,30.23,0.660,4,0.000,0.062,2802,489,2058
$GC,3783,0.99,398.3,5.1,6.5,361,3792,0.10,2.72,2.45,0.748,2,0.076,0.030,2822,1905,2045
$STATE,3793,end climb,SURFACE_DEPTH_REACHED
$STATE,3793,begin surface coast
$FINISH,1.2,1.019759
$STATE,3870,end surface coast,CONTROL_FINISHED_OK
$STATE,3870,begin surface
$SM_CCo,3950,0.00,0.000,0,0,2041,354.21
$SM_GC,1.17,11.20,0.00,0.00,0.041,0.000,0.000,365,2169,2041,-10.27,0.54,354.21
$IRIDIUM_FIX,4726.11,-12250.84,250907,141409
$TT8_MAMPS,0.026845
$HUMID,2162
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,24.0,12.595
$10V_AH,10.2,5.202
$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,24.550,77.925,324.175,0.000,0.000,76.629,72.599,193.794,0.500,0.000,0.000,15.895,697.150,2211.932,427.980,681.944,459.966,33.330,852.677,0.000,667.052,0.000,2.451
$DEVICE_MAMPS,145.730,62.127,747.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,250.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9616,374
$CFSIZE,260034560,254119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,115345,4741.089,-12251.599,9,1.8,10,18.3