version: 66.02
glider: 23
mission: 2
dive: 93
start: 9 23 107 16 51 1
data:
$ID,23
$MISSION,2
$DIVE,93
$D_SURF,2
$D_FLARE,2
$D_TGT,85
$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,35
$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,-28961.223
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,164607,4745.739,-12249.403,37,1.5,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.6
$GPS2,165002,4745.745,-12249.408,12,1.0,12,18.3
$SPEED_LIMITS,0.140,0.205
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.021,-0.204
$KALMAN_X,6265.4,66.7,30.0,-1947.9,-74.3
$KALMAN_Y,5964.6,-37.3,57.4,5060.3,154.7
$MHEAD_RNG_PITCHd_Wd,155.9,2133,-16.8,-8.095
$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,-1.18,-122.2,0.0,0.0,0,88,0.00,0.00,-67.65,0.000,2,0.000,0.000,367,2163,3439
$GC,91,-1.18,-122.2,2.2,-4.1,11,128,11.07,2.42,-18.35,0.000,4,0.147,0.062,2347,3556,3983
$GC,345,-1.18,-122.2,24.0,-7.9,46,352,0.00,2.35,0.00,0.000,6,0.000,0.035,2347,2160,3985
$GC,541,-1.18,-122.2,38.2,-7.3,62,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2161,3986
$GC,731,-1.18,-122.2,51.7,-7.2,77,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2162,3986
$GC,920,-1.18,-122.2,65.3,-7.4,92,924,0.00,2.40,0.00,0.000,4,0.000,0.051,2347,3544,3986
$GC,986,-1.18,-122.2,70.3,-7.7,97,991,0.00,2.38,0.00,0.000,6,0.000,0.036,2347,2144,3986
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1190,-0.31,0.0,85.6,7.5,113,1289,0.95,0.00,95.15,0.726,6,0.091,0.000,2538,2023,3484
$STATE,1290,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1292,1.18,122.2,87.3,0.0,121,1388,1.55,0.00,92.53,0.709,6,0.069,0.000,2865,2023,2984
$GC,1571,1.18,122.2,60.4,11.0,144,1575,0.00,2.88,0.00,0.000,4,0.000,0.061,2864,650,2984
$GC,1610,1.18,122.2,55.8,11.9,146,1617,0.00,2.72,0.00,0.000,6,0.000,0.029,2864,2033,2984
$GC,1805,1.18,122.2,34.8,10.5,162,1809,0.00,2.88,0.00,0.000,4,0.000,0.058,2864,654,2984
$GC,1829,1.18,122.2,32.0,11.4,163,1838,0.00,2.78,0.00,0.000,6,0.000,0.030,2864,2048,2984
$GC,2030,1.18,122.2,11.6,9.6,185,2037,0.00,2.90,0.00,0.000,4,0.000,0.058,2864,656,2984
$GC,2075,1.18,122.2,7.1,9.9,192,2082,0.00,2.75,0.00,0.000,6,0.000,0.031,2864,2050,2984
$STATE,2146,end climb,SURFACE_DEPTH_REACHED
$STATE,2146,begin surface coast
$FINISH,0.3,1.002056
$STATE,2180,end surface coast,CONTROL_FINISHED_OK
$STATE,2180,begin surface
$SM_CCo,2199,107.88,0.645,0,0,2057,350.04
$SM_GC,1.03,0.00,0.00,107.88,0.000,0.000,0.645,363,2169,2057,-10.34,0.54,350.04
$IRIDIUM_FIX,4729.30,-12249.89,230907,191912
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.9,9.585
$10V_AH,10.2,4.204
$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,24.900,26.800,187.675,107.875,0.000,39.026,41.984,85.774,1.500,0.000,0.000,14.060,392.377,1205.086,396.461,348.496,224.991,33.348,613.849,0.000,343.451,0.000,7.162
$DEVICE_MAMPS,147.264,62.127,725.582,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,208
$CFSIZE,260034560,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,173037,4745.512,-12249.398,12,1.5,28,18.3