version: 66.02
glider: 23
mission: 2
dive: 81
start: 9 23 107 8 5 21
data:
$ID,23
$MISSION,2
$DIVE,81
$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,30
$T_MISSION,70
$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,-28992.051
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2675
$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,21
$R_STBD_OVSHOOT,42
$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
$GPS1,075708,4744.525,-12249.650,31,1.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.4
$GPS2,080415,4744.504,-12249.653,15,1.7,15,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.040,0.221
$KALMAN_X,6119.7,-81.2,-15.6,-1912.6,4.2
$KALMAN_Y,6154.0,-298.3,0.9,2890.6,-34.5
$MHEAD_RNG_PITCHd_Wd,351.9,3396,-22.8,-11.111
$D_GRID,174
$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,-1.56,-122.2,0.0,0.0,0,88,0.00,0.00,-67.43,0.000,2,0.000,0.000,364,2173,3423
$GC,91,-1.56,-122.2,2.2,-4.6,11,128,11.02,2.95,-18.90,0.000,4,0.149,0.061,2330,736,3983
$GC,180,-1.56,-122.2,9.8,-10.4,25,187,0.00,2.75,0.00,0.000,6,0.000,0.030,2330,2134,3984
$GC,252,-1.56,-122.2,15.6,-7.3,36,259,0.00,2.47,0.00,0.000,4,0.000,0.050,2330,3557,3984
$GC,304,-1.56,-122.2,19.9,-8.5,44,311,0.00,2.38,0.00,0.000,6,0.000,0.034,2330,2152,3985
$GC,374,-1.56,-122.2,25.4,-7.7,50,378,0.00,2.47,0.00,0.000,4,0.000,0.049,2330,3571,3985
$GC,418,-1.56,-122.2,29.1,-8.4,53,426,0.00,2.42,0.00,0.000,6,0.000,0.034,2330,2151,3985
$GC,615,-1.56,-122.2,45.0,-8.1,69,618,0.00,2.47,0.00,0.000,4,0.000,0.051,2330,3569,3986
$GC,712,-1.56,-122.2,53.4,-8.4,76,720,0.00,2.42,0.00,0.000,6,0.000,0.035,2330,2153,3986
$GC,908,-1.56,-122.2,68.9,-7.9,92,913,0.00,2.45,0.00,0.000,4,0.000,0.052,2330,3557,3986
$GC,953,-1.56,-122.2,72.7,-8.5,95,961,0.00,2.42,0.00,0.000,6,0.000,0.035,2330,2145,3986
$GC,1150,-1.56,-122.2,88.0,-7.6,111,1154,0.00,2.47,0.00,0.000,4,0.000,0.052,2330,3568,3986
$GC,1207,-1.56,-122.2,93.0,-8.5,115,1215,0.00,2.42,0.00,0.000,6,0.000,0.037,2329,2148,3986
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1305,-0.31,0.0,100.2,7.5,123,1405,1.35,0.00,95.70,0.732,6,0.091,0.000,2603,2033,3484
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1406,begin climb
$GC,1407,1.56,122.2,100.9,0.0,131,1505,1.88,0.00,92.82,0.715,6,0.055,0.000,3014,2033,2985
$GC,1687,1.56,122.2,52.4,20.8,154,1691,0.00,2.47,0.00,0.000,4,0.000,0.041,3015,3467,2986
$GC,1911,1.56,122.2,8.3,20.7,175,1918,0.00,2.47,0.00,0.000,6,0.000,0.043,3014,2064,2983
$STATE,1955,end climb,SURFACE_DEPTH_REACHED
$STATE,1955,begin surface coast
$FINISH,0.3,1.021453
$STATE,1970,end surface coast,CONTROL_FINISHED_OK
$STATE,1970,begin surface
$SM_CCo,1990,108.97,0.640,0,0,2057,350.04
$SM_GC,0.99,0.00,0.00,108.97,0.000,0.000,0.640,366,2176,2057,-10.62,0.74,350.04
$IRIDIUM_FIX,4726.11,-12250.84,230907,111129
$TT8_MAMPS,0.026845
$HUMID,2135
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,85.1,999.0
$24V_AH,23.9,8.731
$10V_AH,10.2,3.974
$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,26.325,35.425,188.525,108.975,0.000,78.259,67.489,145.545,1.750,0.000,0.000,16.552,363.906,1081.111,413.423,341.949,358.915,33.344,632.222,0.000,333.896,0.000,8.677
$DEVICE_MAMPS,148.798,60.593,732.485,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3293,184
$CFSIZE,260034560,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,084135,4744.702,-12249.598,14,2.4,33,18.3