version: 66.02
glider: 23
mission: 2
dive: 98
start: 9 23 107 20 27 44
data:
$ID,23
$MISSION,2
$DIVE,98
$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,-28986.221
$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,20
$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
$GPS1,202247,4744.624,-12249.585,11,3.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.2
$GPS2,202637,4744.627,-12249.579,30,1.6,30,18.3
$SPEED_LIMITS,0.165,0.216
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.085,-0.198
$KALMAN_X,6330.9,33.9,-63.2,-2099.8,17.0
$KALMAN_Y,5865.9,100.0,112.5,2894.0,-11.6
$MHEAD_RNG_PITCHd_Wd,184.9,3615,-19.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.37,-122.2,0.0,0.0,0,88,0.00,0.00,-67.53,0.000,2,0.000,0.000,364,2180,3445
$GC,91,-1.37,-122.2,2.2,-4.2,11,128,10.88,2.40,-18.10,0.000,4,0.148,0.061,2309,3541,3984
$GC,252,-1.37,-122.2,17.3,-10.0,36,259,0.00,2.40,0.00,0.000,6,0.000,0.035,2309,2147,3985
$GC,323,-1.37,-122.2,23.5,-8.4,44,327,0.00,2.45,0.00,0.000,4,0.000,0.048,2308,3551,3985
$GC,380,-1.37,-122.2,28.8,-9.5,48,388,0.00,2.40,0.00,0.000,6,0.000,0.034,2309,2152,3985
$GC,577,-1.37,-122.2,45.5,-8.3,64,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2152,3985
$GC,767,-1.37,-122.2,61.6,-8.7,79,771,0.00,2.42,0.00,0.000,4,0.000,0.051,2309,3541,3986
$GC,976,-1.37,-122.2,82.1,-9.9,94,984,0.00,2.40,0.00,0.000,6,0.000,0.037,2309,2144,3986
$GC,1173,-1.37,-122.2,99.4,-8.9,110,1177,0.00,2.45,0.00,0.000,4,0.000,0.051,2309,3549,3986
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1191,-0.31,0.0,100.5,9.2,111,1294,1.15,0.00,95.50,0.731,6,0.097,0.000,2536,2035,3485
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1297,1.37,122.2,102.9,0.0,120,1398,1.73,3.00,92.55,0.718,4,0.067,0.061,2903,648,2984
$GC,1431,1.37,122.2,90.3,14.2,131,1436,0.00,2.75,0.00,0.000,6,0.000,0.030,2903,2031,2984
$GC,1633,1.37,122.2,63.3,13.0,147,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2034,2984
$GC,1823,1.37,122.2,38.6,13.0,162,1828,0.00,2.90,0.00,0.000,4,0.000,0.059,2903,644,2983
$GC,1855,1.37,122.2,34.1,14.5,164,1859,0.00,2.80,0.00,0.000,6,0.000,0.031,2903,2063,2983
$GC,2055,1.37,122.2,8.9,11.1,186,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2066,2983
$GC,2126,1.39,141.3,2.2,8.5,197,2133,0.00,0.00,5.62,0.721,2,0.000,0.000,2903,2066,2945
$STATE,2134,end climb,SURFACE_DEPTH_REACHED
$STATE,2134,begin surface coast
$FINISH,0.4,1.010434
$STATE,2159,end surface coast,CONTROL_FINISHED_OK
$STATE,2159,begin surface
$SM_CCo,2178,101.53,0.640,0,0,2057,350.04
$SM_GC,1.10,0.00,0.00,101.53,0.000,0.000,0.640,367,2171,2057,-10.32,0.59,350.04
$IRIDIUM_FIX,4726.11,-12255.26,230907,232358
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,7.8
$ALTIM_BOTTOM_PING,85.0,999.0
$24V_AH,23.9,9.916
$10V_AH,10.2,4.295
$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,25.275,31.150,193.675,101.525,0.000,37.726,30.917,76.368,1.500,0.000,0.000,32.283,388.508,1162.381,388.992,392.200,211.613,33.352,629.662,0.000,365.976,0.000,8.678
$DEVICE_MAMPS,148.031,61.360,730.951,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,202
$CFSIZE,260034560,255254528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,210633,4744.414,-12249.724,8,1.5,8,18.3