version: 66.02
glider: 23
mission: 2
dive: 86
start: 9 23 107 11 32 20
data:
$ID,23
$MISSION,2
$DIVE,86
$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,-28976.971
$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,19
$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
$GPS1,112735,4745.400,-12249.275,9,2.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.5
$GPS2,113121,4745.398,-12249.273,14,1.5,14,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.004,0.225
$KALMAN_X,6310.2,-33.5,4.5,-1696.7,58.0
$KALMAN_Y,5904.1,-213.0,-159.2,4869.3,-11.4
$MHEAD_RNG_PITCHd_Wd,340.7,1684,-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,-122.2,0.0,0.0,0,88,0.00,0.00,-67.80,0.000,2,0.000,0.000,367,2179,3442
$GC,91,-1.56,-122.2,2.2,-4.5,11,128,10.77,2.97,-18.05,0.000,4,0.150,0.061,2285,735,3983
$GC,220,-1.56,-122.2,15.6,-10.7,31,227,0.00,2.75,0.00,0.000,6,0.000,0.030,2285,2136,3984
$GC,290,-1.56,-122.2,22.5,-9.5,40,295,0.00,2.45,0.00,0.000,4,0.000,0.049,2285,3564,3984
$GC,330,-1.56,-122.2,26.4,-10.1,43,334,0.00,2.40,0.00,0.000,6,0.000,0.034,2285,2142,3984
$GC,532,-1.56,-122.2,46.2,-9.9,59,536,0.00,2.47,0.00,0.000,4,0.000,0.050,2285,3565,3986
$GC,729,-1.56,-122.2,67.2,-10.7,74,734,0.00,2.40,0.00,0.000,6,0.000,0.036,2285,2142,3987
$GC,931,-1.56,-122.2,86.6,-9.7,90,935,0.00,2.47,0.00,0.000,4,0.000,0.051,2285,3568,3986
$GC,997,-1.56,-122.2,93.2,-10.2,95,1001,0.00,2.40,0.00,0.000,6,0.000,0.037,2285,2144,3986
$STATE,1071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1071,begin apogee
$GC,1075,-0.31,0.0,100.7,9.7,101,1175,1.38,0.00,95.22,0.733,6,0.099,0.000,2557,2028,3483
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1177,1.56,122.2,102.2,0.0,109,1275,1.90,0.00,92.80,0.716,6,0.062,0.000,2969,2028,2985
$GC,1457,1.56,122.2,59.4,17.9,132,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2028,2984
$GC,1646,1.56,122.2,26.5,17.2,147,1651,0.00,2.47,0.00,0.000,4,0.000,0.042,2969,3462,2984
$GC,1718,1.56,122.2,14.4,17.1,154,1725,0.00,2.45,0.00,0.000,6,0.000,0.041,2969,2067,2983
$GC,1791,1.56,122.2,3.7,13.1,165,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2068,2984
$STATE,1807,end climb,SURFACE_DEPTH_REACHED
$STATE,1807,begin surface coast
$FINISH,0.5,1.021475
$STATE,1822,end surface coast,CONTROL_FINISHED_OK
$STATE,1822,begin surface
$SM_CCo,1841,110.10,0.640,0,0,2057,350.04
$SM_GC,1.05,0.00,0.00,110.10,0.000,0.000,0.640,365,2180,2057,-10.42,0.85,350.04
$IRIDIUM_FIX,4729.30,-12327.20,230907,141415
$TT8_MAMPS,0.026845
$HUMID,2145
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.3,8.0
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,23.9,9.079
$10V_AH,10.2,4.065
$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,25.900,25.600,188.025,110.100,0.000,40.604,30.534,86.597,1.250,0.000,0.000,15.879,336.431,949.522,393.249,313.893,210.666,33.331,595.386,0.000,306.884,0.000,8.670
$DEVICE_MAMPS,149.565,60.593,733.252,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3326,170
$CFSIZE,260034560,255541248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,120544,4745.614,-12249.250,11,1.5,11,18.3