version: 66.02
glider: 23
mission: 2
dive: 94
start: 9 23 107 17 35 50
data:
$ID,23
$MISSION,2
$DIVE,94
$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,-28959.135
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,173037,4745.512,-12249.398,12,1.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.2
$GPS2,173451,4745.517,-12249.404,13,1.6,13,18.3
$SPEED_LIMITS,0.140,0.205
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.014,-0.205
$KALMAN_X,6285.4,48.6,-13.9,-1900.3,-25.1
$KALMAN_Y,5851.0,21.1,136.0,4615.6,42.0
$MHEAD_RNG_PITCHd_Wd,165.7,1715,-16.8,-8.095
$D_GRID,172
$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,17,begin dive
$GC,18,-1.18,-122.2,0.0,0.0,0,88,0.00,0.00,-67.57,0.000,2,0.000,0.000,363,2169,3435
$GC,91,-1.18,-122.2,2.3,-4.2,11,127,11.10,0.00,-18.40,0.000,6,0.148,0.000,2346,2169,3984
$GC,192,-1.18,-122.2,10.3,-9.8,27,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2169,3984
$GC,262,-1.18,-122.2,16.3,-8.3,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2168,3985
$GC,340,-1.18,-122.2,22.0,-7.5,48,344,0.00,2.40,0.00,0.000,4,0.000,0.050,2346,3553,3985
$GC,392,-1.18,-122.2,26.0,-7.7,52,396,0.00,2.35,0.00,0.000,6,0.000,0.034,2346,2161,3985
$GC,594,-1.18,-122.2,40.7,-7.2,68,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2161,3986
$GC,784,-1.18,-122.2,54.5,-7.4,83,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2161,3986
$GC,975,-1.18,-122.2,68.5,-7.6,98,979,0.00,2.40,0.00,0.000,4,0.000,0.050,2346,3544,3986
$GC,1065,-1.18,-122.2,76.3,-8.5,104,1073,0.00,2.38,0.00,0.000,6,0.000,0.036,2346,2154,3986
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1189,-0.31,0.0,85.6,7.8,114,1287,0.95,0.00,95.10,0.726,6,0.090,0.000,2537,2020,3483
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1290,1.18,122.2,87.5,0.0,122,1392,1.55,2.92,92.22,0.705,4,0.069,0.059,2863,662,2984
$GC,1411,1.18,122.2,78.3,11.1,132,1415,0.00,2.72,0.00,0.000,6,0.000,0.028,2863,2037,2984
$GC,1613,1.18,122.2,55.9,11.0,148,1617,0.00,2.90,0.00,0.000,4,0.000,0.058,2863,654,2984
$GC,1652,1.18,122.2,51.3,12.1,151,1656,0.00,2.78,0.00,0.000,6,0.000,0.030,2863,2059,2984
$GC,1854,1.18,122.2,29.4,10.8,167,1859,0.00,2.92,0.00,0.000,4,0.000,0.058,2863,657,2984
$GC,1886,1.18,122.2,25.8,11.3,169,1891,0.00,2.78,0.00,0.000,6,0.000,0.031,2863,2066,2984
$GC,2088,1.18,122.2,6.2,8.8,195,2095,0.00,2.92,0.00,0.000,4,0.000,0.057,2863,656,2984
$GC,2114,1.19,126.0,4.2,7.9,199,2122,0.00,2.75,2.35,0.760,6,0.000,0.032,2863,2045,2970
$STATE,2146,end climb,SURFACE_DEPTH_REACHED
$STATE,2146,begin surface coast
$FINISH,0.4,1.001911
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2176,begin surface
$SM_CCo,2195,105.82,0.644,0,0,2056,350.04
$SM_GC,1.02,0.00,0.00,105.82,0.000,0.000,0.644,363,2169,2056,-10.34,0.54,350.04
$IRIDIUM_FIX,4726.11,-12248.15,230907,202028
$TT8_MAMPS,0.026845
$HUMID,2149
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.9,9.652
$10V_AH,10.2,4.222
$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,24.925,32.600,189.675,105.825,0.000,41.284,39.284,101.740,1.250,0.000,0.000,15.144,403.811,1170.335,389.139,373.151,244.429,33.350,633.001,0.000,365.473,0.000,7.153
$DEVICE_MAMPS,148.031,59.059,760.097,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6464,208
$CFSIZE,260034560,255344640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,181502,4745.279,-12249.460,10,1.3,10,18.3