version: 66.02
glider: 23
mission: 2
dive: 89
start: 9 23 107 13 39 49
data:
$ID,23
$MISSION,2
$DIVE,89
$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,-28973.662
$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,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
$GPS1,133434,4746.021,-12249.124,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.7
$GPS2,133850,4746.027,-12249.132,14,1.3,14,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.006,0.225
$KALMAN_X,6351.1,12.9,35.9,-1640.1,23.8
$KALMAN_Y,5771.8,-154.0,-122.6,6071.3,26.8
$MHEAD_RNG_PITCHd_Wd,343.2,507,-22.7,-11.111
$D_GRID,164
$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,-1.55,-122.2,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,366,2169,3445
$GC,91,-1.55,-122.2,2.2,-4.4,11,128,10.80,2.42,-17.45,0.000,4,0.150,0.061,2288,3540,3984
$GC,378,-1.55,-122.2,31.9,-9.4,46,383,0.00,2.38,0.00,0.000,6,0.000,0.035,2286,2146,3985
$GC,580,-1.55,-122.2,51.4,-9.8,62,584,0.00,2.45,0.00,0.000,4,0.000,0.049,2289,3549,3986
$GC,836,-1.55,-122.2,78.4,-9.8,81,844,0.00,2.40,0.00,0.000,6,0.000,0.035,2288,2153,3986
$GC,1033,-1.55,-122.2,97.1,-9.6,97,1037,0.00,2.42,0.00,0.000,4,0.000,0.051,2288,3546,3986
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1069,-0.31,0.0,100.2,10.1,99,1172,1.35,0.00,95.22,0.732,6,0.097,0.000,2558,2031,3483
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1175,1.55,122.2,102.0,0.0,108,1276,1.88,3.00,91.78,0.719,4,0.061,0.060,2969,643,2985
$GC,1309,1.55,122.2,85.1,18.2,119,1314,0.00,2.75,0.00,0.000,6,0.000,0.028,2969,2034,2985
$GC,1512,1.55,122.2,48.8,17.3,135,1516,0.00,2.47,0.00,0.000,4,0.000,0.044,2969,3467,2985
$GC,1618,1.55,122.2,30.8,16.8,143,1622,0.00,2.47,0.00,0.000,6,0.000,0.041,2969,2048,2984
$STATE,1810,end climb,SURFACE_DEPTH_REACHED
$STATE,1811,begin surface coast
$FINISH,0.5,1.021543
$STATE,1826,end surface coast,CONTROL_FINISHED_OK
$STATE,1826,begin surface
$SM_CCo,1845,109.12,0.637,0,0,2057,350.04
$SM_GC,1.13,0.00,0.00,109.12,0.000,0.000,0.637,368,2178,2057,-10.41,0.79,350.04
$IRIDIUM_FIX,4729.30,-12245.46,230907,161617
$TT8_MAMPS,0.026845
$HUMID,2129
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,8.0
$ALTIM_BOTTOM_PING,86.1,999.0
$24V_AH,23.9,9.299
$10V_AH,10.2,4.122
$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,25.850,25.600,187.000,109.125,0.000,39.859,37.850,104.818,1.750,0.000,0.000,15.856,333.352,939.398,377.863,349.121,237.172,33.326,597.224,0.000,341.234,0.000,8.674
$DEVICE_MAMPS,149.565,60.593,731.718,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3317,169
$CFSIZE,260034560,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,141332,4746.201,-12249.008,10,1.1,27,18.3