version: 66.02
glider: 23
mission: 2
dive: 140
start: 9 25 107 12 0 7
data:
$ID,23
$MISSION,2
$DIVE,140
$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,-28820.445
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,115345,4741.089,-12251.599,9,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.8
$GPS2,115845,4741.114,-12251.582,10,1.8,10,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,-0.276
$KALMAN_X,8330.7,364.5,-30.3,-6964.0,125.8
$KALMAN_Y,7213.1,134.8,-84.9,-4803.8,54.4
$MHEAD_RNG_PITCHd_Wd,166.2,234,-8.8,-7.407
$D_GRID,101
$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,-48.72,0.000,2,0.000,0.000,365,2168,3076
$GC,74,-0.64,-78.2,2.1,-3.3,8,122,11.70,0.00,-29.90,0.000,6,0.146,0.000,2468,2168,3804
$GC,188,-0.64,-78.2,5.9,-5.6,26,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2168,3805
$GC,259,-0.64,-78.2,8.5,-3.4,37,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2168,3805
$GC,330,-0.64,-78.2,10.5,-2.7,48,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2168,3805
$GC,402,-0.64,-78.2,13.1,-3.8,59,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2168,3805
$GC,474,-0.64,-78.2,15.6,-3.0,70,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2168,3805
$GC,546,-0.64,-78.2,17.2,-1.9,81,553,0.00,2.95,0.00,0.000,4,0.000,0.048,2468,729,3805
$GC,678,-0.64,-78.2,19.9,-2.9,101,685,0.00,2.80,0.00,0.000,6,0.000,0.030,2468,2150,3806
$GC,754,-0.64,-78.2,21.5,-2.2,108,758,0.00,2.45,0.00,0.000,4,0.000,0.051,2468,3562,3805
$GC,820,-0.64,-78.2,22.9,-2.5,113,824,0.00,2.38,0.00,0.000,6,0.000,0.033,2468,2146,3806
$GC,1015,-0.64,-78.2,27.4,-2.4,128,1019,0.00,2.88,0.00,0.000,4,0.000,0.051,2468,732,3807
$GC,1211,-0.64,-78.2,33.4,-3.3,142,1219,0.00,2.83,0.00,0.000,6,0.000,0.031,2468,2148,3807
$GC,1408,-0.64,-78.2,37.8,-2.3,158,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2148,3807
$GC,1598,-0.64,-78.2,41.8,-1.9,173,1603,0.00,2.90,0.00,0.000,4,0.000,0.051,2468,730,3807
$GC,1670,-0.64,-78.2,43.4,-2.3,178,1675,0.00,2.80,0.00,0.000,6,0.000,0.031,2468,2151,3807
$GC,1865,-0.64,-78.2,47.1,-2.0,193,1870,0.00,2.90,0.00,0.000,4,0.000,0.051,2468,734,3807
$GC,1911,-0.64,-78.2,48.0,-2.0,196,1916,0.00,2.80,0.00,0.000,6,0.000,0.031,2468,2154,3807
$GC,2106,-0.64,-78.2,52.3,-2.4,211,2110,0.00,2.45,0.00,0.000,4,0.000,0.053,2468,3565,3807
$GC,2151,-0.64,-78.2,53.5,-2.8,214,2158,0.00,2.40,0.00,0.000,6,0.000,0.035,2468,2152,3807
$GC,2347,-0.64,-78.2,58.1,-2.5,230,2352,0.00,2.90,0.00,0.000,4,0.000,0.053,2468,726,3807
$GC,2412,-0.64,-78.2,60.1,-3.3,234,2419,0.00,2.83,0.00,0.000,6,0.000,0.031,2468,2147,3807
$GC,2608,-0.64,-78.2,64.9,-2.7,250,2613,0.00,2.88,0.00,0.000,4,0.000,0.051,2468,734,3807
$GC,2654,-0.64,-78.2,66.3,-3.0,253,2659,0.00,2.80,0.00,0.000,6,0.000,0.032,2468,2156,3807
$STATE,2715,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2715,begin apogee
$GC,2720,-0.31,0.0,68.1,2.8,258,2784,0.35,0.00,60.62,0.726,6,0.084,0.000,2538,1889,3484
$STATE,2785,end apogee,CONTROL_FINISHED_OK
$STATE,2785,begin climb
$GC,2787,0.64,78.2,68.8,0.0,263,2853,0.98,0.00,58.95,0.707,6,0.068,0.000,2745,1889,3164
$GC,3042,0.77,197.8,57.0,5.1,284,3140,0.15,2.88,89.50,0.689,4,0.054,0.057,2782,495,2677
$GC,3274,0.80,229.9,41.1,6.8,302,3303,0.00,2.70,23.77,0.690,6,0.000,0.029,2782,1903,2546
$GC,3493,0.85,271.4,26.8,6.6,319,3531,0.00,2.92,31.17,0.677,4,0.000,0.061,2782,496,2376
$GC,3623,0.85,276.7,17.5,7.3,331,3636,0.00,2.70,3.58,0.737,6,0.000,0.029,2782,1907,2354
$GC,3702,0.89,310.6,12.2,6.8,343,3734,0.10,2.92,25.08,0.672,4,0.071,0.059,2804,493,2216
$GC,3759,0.89,310.6,7.9,7.6,352,3766,0.00,2.70,0.00,0.000,6,0.000,0.029,2804,1899,2216
$STATE,3803,end climb,SURFACE_DEPTH_REACHED
$STATE,3803,begin surface coast
$FINISH,0.6,1.020035
$STATE,3904,end surface coast,CONTROL_FINISHED_OK
$STATE,3904,begin surface
$SM_CCo,3923,22.70,0.683,1,0,2056,350.04
$SM_GC,1.36,0.00,0.00,22.70,0.000,0.000,0.683,365,2162,2056,-10.33,0.34,350.04
$IRIDIUM_FIX,4722.92,-12246.42,250907,141442
$TT8_MAMPS,0.026845
$HUMID,2179
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,24.0,12.670
$10V_AH,10.2,5.229
$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,24.325,61.775,292.675,22.700,0.000,38.369,39.266,145.534,0.500,0.000,0.000,12.206,703.473,2150.329,431.719,679.321,330.260,33.335,846.146,0.000,670.139,0.000,2.450
$DEVICE_MAMPS,145.730,60.593,737.087,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,251.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9602,374
$CFSIZE,260034560,254091264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,130707,4740.898,-12251.557,11,1.6,27,18.3