version: 66.02
glider: 23
mission: 2
dive: 97
start: 9 23 107 19 48 17
data:
$ID,23
$MISSION,2
$DIVE,97
$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,35
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$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,-28969.338
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,194237,4744.820,-12249.531,10,2.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.1
$GPS2,194641,4744.825,-12249.526,9,2.4,28,18.3
$SPEED_LIMITS,0.165,0.216
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.044,-0.189
$KALMAN_X,6301.3,37.9,-61.5,-2010.5,1.0
$KALMAN_Y,5822.8,85.5,144.3,3287.1,-18.5
$MHEAD_RNG_PITCHd_Wd,174.7,427,-22.3,-9.524
$D_GRID,173
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.50,-98.5,0.0,0.0,0,88,0.00,0.00,-67.45,0.000,2,0.000,0.000,366,2176,3439
$GC,91,-1.53,-122.2,2.2,-4.4,11,127,10.68,0.00,-18.45,0.000,6,0.149,0.000,2274,2176,3983
$GC,191,-1.53,-122.2,11.4,-11.1,27,198,0.00,2.40,0.00,0.000,4,0.000,0.048,2274,3552,3984
$GC,389,-1.53,-122.2,32.3,-10.0,48,394,0.00,2.38,0.00,0.000,6,0.000,0.035,2274,2162,3985
$GC,591,-1.53,-122.2,51.6,-9.6,64,595,0.00,2.42,0.00,0.000,4,0.000,0.049,2274,3544,3985
$GC,729,-1.53,-122.2,66.3,-10.4,74,736,0.00,2.40,0.00,0.000,6,0.000,0.036,2274,2147,3987
$GC,924,-1.53,-122.2,87.1,-10.5,90,929,0.00,2.45,0.00,0.000,4,0.000,0.051,2274,3541,3987
$STATE,1043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1043,begin apogee
$GC,1049,-0.31,0.0,100.0,11.0,99,1152,1.30,0.00,94.85,0.740,6,0.100,0.000,2533,2041,3484
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1154,begin climb
$GC,1155,1.53,122.2,102.5,0.0,108,1256,1.90,3.00,92.38,0.719,4,0.066,0.060,2945,635,2985
$GC,1268,1.53,122.2,90.8,15.1,117,1276,0.00,2.83,0.00,0.000,6,0.000,0.028,2945,2040,2985
$GC,1465,1.53,122.2,59.7,15.7,133,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2043,2984
$GC,1655,1.53,122.2,30.1,15.7,148,1659,0.00,2.45,0.00,0.000,4,0.000,0.044,2945,3461,2983
$GC,1673,1.53,122.2,27.2,15.1,149,1678,0.00,2.47,0.00,0.000,6,0.000,0.042,2945,2035,2982
$STATE,1855,end climb,SURFACE_DEPTH_REACHED
$STATE,1855,begin surface coast
$FINISH,0.5,1.021424
$STATE,1869,end surface coast,CONTROL_FINISHED_OK
$STATE,1870,begin surface
$SM_CCo,1889,107.78,0.639,0,0,2057,350.04
$SM_GC,1.05,0.00,0.00,107.78,0.000,0.000,0.639,364,2180,2057,-10.33,0.82,350.04
$IRIDIUM_FIX,4729.30,-12252.58,230907,222259
$TT8_MAMPS,0.026845
$HUMID,2157
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,7.9
$ALTIM_BOTTOM_PING,85.8,999.0
$24V_AH,23.9,9.851
$10V_AH,10.2,4.276
$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,25.600,25.625,187.225,107.775,0.000,39.750,35.594,82.525,1.250,0.000,0.000,30.583,347.314,973.858,383.996,356.967,242.133,33.345,604.058,0.000,334.452,0.000,9.347
$DEVICE_MAMPS,148.798,59.826,740.155,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3313,175
$CFSIZE,260034560,255283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,202247,4744.624,-12249.585,11,3.1,30,18.3