version: 66.02
glider: 23
mission: 2
dive: 87
start: 9 23 107 12 10 38
data:
$ID,23
$MISSION,2
$DIVE,87
$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,-28977.043
$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,43
$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
$GPS1,120544,4745.614,-12249.250,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.4
$GPS2,120939,4745.606,-12249.250,13,1.5,13,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.013,0.225
$KALMAN_X,6313.3,-15.8,21.9,-1706.2,37.6
$KALMAN_Y,5873.3,-196.1,-163.0,5273.5,14.6
$MHEAD_RNG_PITCHd_Wd,345.0,1297,-22.8,-11.111
$D_GRID,170
$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,-61.70,0.000,2,0.000,0.000,365,2181,3295
$GC,85,-1.56,-122.2,2.0,-3.8,10,128,10.77,2.97,-25.62,0.000,4,0.148,0.058,2286,724,3982
$GC,240,-1.56,-122.2,17.0,-10.7,34,247,0.00,2.78,0.00,0.000,6,0.000,0.031,2286,2135,3983
$GC,310,-1.56,-122.2,23.8,-9.4,42,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2135,3984
$GC,500,-1.56,-122.2,41.9,-9.7,57,504,0.00,2.47,0.00,0.000,4,0.000,0.050,2286,3568,3984
$GC,723,-1.56,-122.2,65.5,-10.0,73,730,0.00,2.42,0.00,0.000,6,0.000,0.035,2286,2152,3984
$GC,919,-1.56,-122.2,84.2,-9.4,89,923,0.00,2.45,0.00,0.000,4,0.000,0.051,2286,3568,3984
$GC,978,-1.56,-122.2,90.2,-10.8,93,985,0.00,2.42,0.00,0.000,6,0.000,0.036,2287,2147,3984
$STATE,1083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1083,begin apogee
$GC,1088,-0.31,0.0,100.5,9.5,102,1187,1.38,0.00,94.80,0.736,6,0.097,0.000,2559,2031,3484
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1189,1.56,122.2,102.1,0.0,110,1286,1.90,0.00,92.43,0.722,6,0.061,0.000,2970,2031,2985
$GC,1469,1.56,122.2,59.8,18.0,133,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2031,2984
$GC,1658,1.56,122.2,27.0,17.1,148,1662,0.00,2.47,0.00,0.000,4,0.000,0.042,2970,3465,2984
$GC,1743,1.56,122.2,12.8,15.8,157,1750,0.00,2.45,0.00,0.000,6,0.000,0.041,2970,2054,2984
$GC,1816,1.56,122.2,2.9,11.2,168,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2055,2984
$STATE,1825,end climb,SURFACE_DEPTH_REACHED
$STATE,1825,begin surface coast
$FINISH,0.3,1.001114
$STATE,1847,end surface coast,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$SM_CCo,1866,108.55,0.639,0,0,2057,350.04
$SM_GC,1.03,0.00,0.00,108.55,0.000,0.000,0.639,368,2185,2057,-10.41,0.99,350.04
$IRIDIUM_FIX,4726.11,-12250.84,230907,151555
$TT8_MAMPS,0.026845
$HUMID,2150
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,8.0
$ALTIM_BOTTOM_PING,85.4,999.0
$24V_AH,23.9,9.146
$10V_AH,10.2,4.082
$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,25.900,20.825,187.225,108.550,0.000,40.187,34.311,91.877,1.500,0.000,0.000,14.825,334.386,973.888,395.614,312.545,220.037,33.333,595.049,0.000,307.662,0.000,8.674
$DEVICE_MAMPS,148.031,58.292,736.320,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,115.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3314,173
$CFSIZE,260034560,255520768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,124437,4745.812,-12249.197,13,1.9,23,18.3