version: 66.02
glider: 23
mission: 2
dive: 137
start: 9 25 107 8 18 59
data:
$ID,23
$MISSION,2
$DIVE,137
$D_SURF,5
$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,45
$T_MISSION,90
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28865.504
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,25
$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,0
$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
$GPS1,080931,4740.681,-12251.058,37,1.3,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.5
$GPS2,081737,4740.722,-12251.077,15,1.7,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,0.226
$KALMAN_X,7375.2,207.1,265.3,-5516.9,-146.6
$KALMAN_Y,6986.4,43.4,96.1,-5382.4,-19.9
$MHEAD_RNG_PITCHd_Wd,306.4,736,-8.8,-7.407
$D_GRID,99
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.64,-78.2,0.0,0.0,0,72,0.00,0.00,-49.83,0.000,2,0.000,0.000,366,2155,3107
$GC,75,-0.64,-78.2,2.1,-3.3,8,124,11.68,2.90,-30.23,0.000,4,0.146,0.060,2467,746,3804
$GC,355,-0.64,-78.2,11.0,-2.1,51,362,0.00,2.78,0.00,0.000,6,0.000,0.030,2467,2157,3806
$GC,428,-0.64,-78.2,12.1,-1.2,62,434,0.00,2.45,0.00,0.000,4,0.000,0.050,2467,3566,3806
$GC,506,-0.64,-78.2,14.0,-3.1,74,513,0.00,2.35,0.00,0.000,6,0.000,0.033,2467,2165,3806
$GC,578,-0.64,-78.2,16.1,-2.7,85,585,0.00,2.92,0.00,0.000,4,0.000,0.050,2467,728,3807
$GC,716,-0.64,-78.2,18.9,-2.0,106,723,0.00,2.80,0.00,0.000,6,0.000,0.031,2466,2154,3807
$GC,794,-0.64,-78.2,20.6,-2.1,116,798,0.00,2.45,0.00,0.000,4,0.000,0.051,2467,3568,3807
$GC,905,-0.64,-78.2,23.5,-2.8,124,910,0.00,2.40,0.00,0.000,6,0.000,0.034,2466,2142,3807
$GC,1107,-0.64,-78.2,28.1,-2.4,140,1112,0.00,2.88,0.00,0.000,4,0.000,0.053,2467,729,3807
$GC,1193,-0.64,-78.2,30.6,-2.8,146,1197,0.00,2.80,0.00,0.000,6,0.000,0.031,2467,2158,3808
$GC,1388,-0.64,-78.2,35.3,-2.3,161,1393,0.00,2.90,0.00,0.000,4,0.000,0.050,2467,736,3808
$GC,1474,-0.64,-78.2,37.4,-2.9,167,1478,0.00,2.78,0.00,0.000,6,0.000,0.031,2467,2150,3808
$GC,1669,-0.64,-78.2,41.9,-2.4,182,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2150,3808
$GC,1859,-0.64,-78.2,46.1,-2.1,197,1864,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,728,3808
$GC,1931,-0.64,-78.2,47.7,-1.9,202,1935,0.00,2.80,0.00,0.000,6,0.000,0.031,2467,2155,3808
$GC,2126,-0.64,-78.2,51.7,-2.0,217,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2154,3808
$GC,2317,-0.64,-78.2,55.8,-2.1,232,2321,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,730,3808
$GC,2362,-0.64,-78.2,56.9,-2.4,235,2366,0.00,2.80,0.00,0.000,6,0.000,0.031,2467,2158,3808
$GC,2557,-0.64,-78.2,61.6,-3.0,250,2562,0.00,2.90,0.00,0.000,4,0.000,0.051,2467,735,3808
$GC,2603,-0.64,-78.2,63.0,-2.9,253,2608,0.00,2.78,0.00,0.000,6,0.000,0.031,2467,2152,3808
$STATE,2708,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2708,begin apogee
$GC,2713,-0.31,0.0,65.5,2.2,261,2776,0.38,0.00,60.65,0.726,6,0.083,0.000,2542,1882,3484
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2779,0.64,78.2,66.0,0.0,266,2846,0.95,0.00,59.00,0.706,6,0.069,0.000,2745,1882,3165
$GC,3034,0.78,208.8,54.0,4.9,287,3145,0.17,2.70,98.28,0.687,4,0.053,0.047,2787,3306,2632
$GC,3242,0.78,208.8,39.5,7.6,303,3250,0.00,2.55,0.00,0.000,6,0.000,0.040,2787,1912,2631
$GC,3438,0.78,208.8,25.3,7.6,319,3443,0.00,2.88,0.00,0.000,4,0.000,0.064,2787,491,2631
$GC,3537,0.78,208.8,17.5,8.0,328,3544,0.00,2.67,0.00,0.000,6,0.000,0.029,2787,1902,2631
$GC,3610,0.79,215.8,12.2,7.3,339,3616,0.00,0.00,4.72,0.729,6,0.000,0.000,2787,1903,2603
$GC,3682,0.81,238.0,7.3,7.0,350,3707,0.00,2.95,16.48,0.688,4,0.000,0.060,2787,492,2513
$STATE,3724,end climb,SURFACE_DEPTH_REACHED
$STATE,3724,begin surface coast
$FINISH,4.2,1.022084
$STATE,3732,end surface coast,CONTROL_FINISHED_OK
$STATE,3733,begin surface
$SM_CCo,3755,57.15,0.666,2,0,2057,350.04
$SM_GC,1.46,0.00,0.00,57.15,0.000,0.000,0.666,369,2154,2057,-10.31,0.11,350.04
$IRIDIUM_FIX,4722.92,-12257.95,250907,121200
$TT8_MAMPS,0.026845
$HUMID,2154
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,24.0,12.438
$10V_AH,10.2,5.145
$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,24.300,67.025,239.125,57.150,0.000,77.432,65.684,184.902,0.750,0.000,0.000,33.777,679.725,2164.530,420.241,660.118,428.564,33.330,800.236,0.000,629.014,0.000,2.451
$DEVICE_MAMPS,145.730,63.661,728.650,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,241.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9570,358
$CFSIZE,260034560,254189568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250907,092333,4740.904,-12251.190,10,1.7,10,18.3