version: 66.02
glider: 23
mission: 2
dive: 237
start: 9 28 107 21 42 7
data:
$ID,23
$MISSION,2
$DIVE,237
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,15
$T_MISSION,35
$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,100
$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,-28720.545
$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,2250
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,213632,4739.535,-12253.338,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.6
$GPS2,214044,4739.545,-12253.350,9,1.3,9,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,0.079
$KALMAN_X,12436.8,381.5,124.3,-13441.4,-81.4
$KALMAN_Y,6285.9,-33.2,190.4,-6880.7,51.3
$MHEAD_RNG_PITCHd_Wd,50.8,3546,-25.7,-12.222
$D_GRID,118
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.72,-97.8,0.0,0.0,0,104,0.00,0.00,-79.70,0.000,2,0.000,0.000,366,2233,3700
$GC,106,-1.72,-97.8,2.0,-2.1,13,125,10.50,0.00,-6.07,0.000,6,0.152,0.000,2230,2233,3885
$GC,193,-1.72,-97.8,9.8,-9.3,26,199,0.00,2.28,0.00,0.000,4,0.000,0.049,2230,3557,3884
$GC,286,-1.72,-97.8,18.5,-8.5,40,292,0.00,2.17,0.00,0.000,6,0.000,0.033,2230,2245,3885
$GC,356,-1.72,-97.8,24.2,-7.8,47,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2244,3885
$GC,546,-1.72,-97.8,39.7,-7.9,62,553,0.00,2.25,0.00,0.000,4,0.000,0.050,2230,3556,3886
$STATE,716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,716,begin apogee
$GC,724,-0.31,0.0,55.5,9.1,75,804,1.55,0.00,75.32,0.692,6,0.110,0.000,2534,1749,3483
$STATE,805,end apogee,CONTROL_FINISHED_OK
$STATE,805,begin climb
$GC,807,1.72,97.8,57.3,0.0,82,892,2.08,2.92,72.80,0.682,4,0.067,0.061,2980,331,3084
$GC,923,1.72,97.8,43.4,17.5,91,931,0.00,2.70,0.00,0.000,6,0.000,0.027,2980,1757,3084
$GC,1123,1.72,97.8,10.7,17.0,111,1129,0.00,2.55,0.00,0.000,4,0.000,0.040,2980,3151,3083
$STATE,1186,end climb,SURFACE_DEPTH_REACHED
$STATE,1186,begin surface coast
$FINISH,0.3,1.020833
$STATE,1207,end surface coast,CONTROL_FINISHED_OK
$STATE,1207,begin surface
$SM_CCo,1229,117.47,0.621,0,0,2056,350.04
$SM_GC,0.87,0.00,0.00,117.47,0.000,0.000,0.621,368,2227,2056,-10.32,-0.62,350.04
$IRIDIUM_FIX,4722.92,-12256.21,290907,010105
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,40.3,999.0
$24V_AH,24.0,19.354
$10V_AH,10.2,7.244
$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,25.950,19.750,148.125,117.475,0.000,38.015,40.101,97.993,0.750,0.000,0.000,10.995,267.370,534.715,357.280,230.917,258.250,33.314,522.303,0.000,231.345,0.000,5.238
$DEVICE_MAMPS,151.866,60.593,691.834,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,81.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3301,124
$CFSIZE,260034560,251592704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,220527,4739.552,-12253.290,10,1.4,10,18.3