version: 66.02
glider: 23
mission: 2
dive: 69
start: 9 22 107 21 37 56
data:
$ID,23
$MISSION,2
$DIVE,69
$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,40
$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,100
$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,-29002.377
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2675
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,213223,4742.256,-12249.920,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.5
$GPS2,213652,4742.235,-12249.927,15,2.2,34,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.158
$KALMAN_X,6179.3,172.2,-138.1,-2444.6,-13.9
$KALMAN_Y,6372.1,398.5,-405.2,-1821.4,-68.5
$MHEAD_RNG_PITCHd_Wd,309.8,1341,-19.8,-8.333
$D_GRID,127
$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,-1.34,-97.8,0.0,0.0,0,77,0.00,0.00,-56.10,0.000,2,0.000,0.000,365,2180,3204
$GC,80,-1.34,-97.8,2.1,-4.1,9,123,11.15,2.38,-26.10,0.000,4,0.143,0.061,2378,3550,3883
$GC,188,-1.34,-97.8,7.1,-6.5,26,195,0.00,2.35,0.00,0.000,6,0.000,0.033,2378,2171,3884
$GC,260,-1.34,-97.8,12.1,-7.5,37,267,0.00,2.95,0.00,0.000,4,0.000,0.051,2378,728,3884
$GC,312,-1.34,-97.8,15.6,-6.7,45,319,0.00,2.75,0.00,0.000,6,0.000,0.029,2378,2132,3884
$GC,384,-1.34,-97.8,20.0,-6.0,56,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2132,3884
$GC,453,-1.34,-97.8,23.5,-5.1,62,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2132,3884
$GC,643,-1.34,-97.8,33.2,-5.2,77,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2132,3884
$GC,832,-1.34,-97.8,43.4,-5.4,92,837,0.00,2.85,0.00,0.000,4,0.000,0.048,2378,727,3884
$GC,864,-1.34,-97.8,45.3,-5.8,94,868,0.00,2.80,0.00,0.000,6,0.000,0.030,2378,2164,3884
$GC,1066,-1.34,-97.8,56.6,-5.3,110,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2161,3884
$GC,1256,-1.34,-97.8,66.4,-5.3,125,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2161,3884
$GC,1445,-1.34,-97.8,76.5,-5.6,140,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2162,3884
$GC,1634,-1.34,-97.8,86.8,-5.6,155,1638,0.00,2.42,0.00,0.000,4,0.000,0.051,2378,3568,3884
$GC,1726,-1.34,-97.8,91.9,-5.3,162,1730,0.00,2.38,0.00,0.000,6,0.000,0.035,2378,2147,3884
$STATE,1894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1894,begin apogee
$GC,1899,-0.31,0.0,100.5,5.0,175,1981,1.10,0.00,75.38,0.736,6,0.085,0.000,2603,2028,3484
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1983,1.34,97.8,100.6,0.0,182,2068,1.67,2.58,73.50,0.723,4,0.054,0.043,2968,3460,3084
$GC,2112,1.34,97.8,85.1,16.0,192,2121,0.00,2.47,0.00,0.000,6,0.000,0.040,2968,2066,3083
$GC,2309,1.34,97.8,53.3,16.6,208,2313,0.00,2.45,0.00,0.000,4,0.000,0.042,2968,3467,3083
$GC,2367,1.34,97.8,43.7,15.8,212,2375,0.00,2.47,0.00,0.000,6,0.000,0.039,2968,2052,3083
$GC,2565,1.34,97.8,12.8,14.6,231,2572,0.00,2.47,0.00,0.000,4,0.000,0.043,2967,3461,3083
$STATE,2650,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,1.3,1.020842
$STATE,2656,end surface coast,CONTROL_FINISHED_OK
$STATE,2657,begin surface
$SM_CCo,2677,127.72,0.640,1,0,2056,350.04
$SM_GC,1.02,0.00,0.00,127.72,0.000,0.000,0.640,369,2135,2056,-10.61,-0.42,350.04
$IRIDIUM_FIX,4726.11,-12246.42,230907,010157
$TT8_MAMPS,0.026845
$HUMID,2124
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.1,8.4
$ALTIM_BOTTOM_PING,90.2,33.1
$24V_AH,23.9,7.941
$10V_AH,10.2,3.732
$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,26.025,35.800,148.875,127.725,0.000,37.148,38.208,106.313,1.500,0.000,0.000,37.014,468.827,1555.134,395.835,445.211,247.399,33.336,656.493,0.000,413.594,0.000,11.680
$DEVICE_MAMPS,142.662,60.593,736.320,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,245
$CFSIZE,260034560,255930368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220907,222539,4742.403,-12250.119,11,1.4,11,18.3