version: 66.02
glider: 23
mission: 2
dive: 85
start: 9 23 107 10 53 32
data:
$ID,23
$MISSION,2
$DIVE,85
$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,-1
$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,-28975.822
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2630
$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,20
$R_STBD_OVSHOOT,45
$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
$GPS1,104851,4745.189,-12249.270,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.7
$GPS2,105233,4745.188,-12249.270,10,1.6,10,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.016,0.224
$KALMAN_X,6303.3,-44.4,-7.8,-1664.5,67.7
$KALMAN_Y,5934.3,-237.5,-148.8,4464.7,-21.7
$MHEAD_RNG_PITCHd_Wd,337.7,2071,-22.8,-11.111
$D_GRID,171
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.56,-122.2,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,2,0.000,0.000,366,2173,3296
$GC,85,-1.56,-122.2,2.0,-3.8,10,128,10.77,2.92,-25.23,0.000,4,0.149,0.059,2288,732,3982
$GC,220,-1.56,-122.2,15.0,-11.0,31,227,0.00,2.78,0.00,0.000,6,0.000,0.030,2288,2144,3982
$GC,297,-1.56,-122.2,22.6,-10.0,41,301,0.00,2.47,0.00,0.000,4,0.000,0.050,2288,3570,3983
$GC,363,-1.56,-122.2,29.2,-10.1,46,367,0.00,2.40,0.00,0.000,6,0.000,0.035,2288,2146,3983
$GC,565,-1.56,-122.2,49.0,-9.7,62,569,0.00,2.50,0.00,0.000,4,0.000,0.050,2288,3588,3984
$GC,742,-1.56,-122.2,67.5,-10.5,75,750,0.00,2.45,0.00,0.000,6,0.000,0.035,2288,2152,3984
$GC,939,-1.56,-122.2,86.0,-9.4,91,943,0.00,2.45,0.00,0.000,4,0.000,0.051,2287,3559,3984
$GC,1004,-1.56,-122.2,92.6,-10.0,96,1008,0.00,2.40,0.00,0.000,6,0.000,0.037,2288,2139,3984
$STATE,1078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1083,-0.31,0.0,100.0,9.7,102,1182,1.38,0.00,94.97,0.733,6,0.097,0.000,2560,2020,3483
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1184,1.56,122.2,101.5,0.0,110,1285,1.90,2.95,92.60,0.718,4,0.061,0.061,2965,656,2984
$GC,1297,1.56,122.2,88.7,16.1,119,1306,0.00,2.80,0.00,0.000,6,0.000,0.029,2965,2049,2985
$GC,1494,1.56,122.2,53.8,18.0,135,1499,0.00,2.45,0.00,0.000,4,0.000,0.044,2965,3455,2984
$GC,1592,1.56,122.2,36.9,17.0,142,1600,0.00,2.45,0.00,0.000,6,0.000,0.042,2965,2067,2983
$GC,1794,1.56,122.2,5.0,14.1,165,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2067,2983
$STATE,1823,end climb,SURFACE_DEPTH_REACHED
$STATE,1824,begin surface coast
$FINISH,0.3,1.001008
$STATE,1845,end surface coast,CONTROL_FINISHED_OK
$STATE,1845,begin surface
$SM_CCo,1864,108.22,0.639,0,0,2057,350.04
$SM_GC,1.09,0.00,0.00,108.22,0.000,0.000,0.639,367,2179,2057,-10.41,0.82,350.04
$IRIDIUM_FIX,4726.11,-12250.84,230907,141412
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,86.0,999.0
$24V_AH,23.9,9.013
$10V_AH,10.2,4.048
$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,25.875,31.375,187.575,108.225,0.000,39.078,36.680,82.933,1.250,0.000,0.000,11.522,343.923,938.928,397.446,329.149,211.553,33.341,612.741,0.000,324.402,0.000,8.671
$DEVICE_MAMPS,148.798,60.593,733.252,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,115.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3301,173
$CFSIZE,260034560,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,112735,4745.400,-12249.275,9,2.2,28,18.3