version: 66.02
glider: 23
mission: 2
dive: 71
start: 9 22 107 23 23 11
data:
$ID,23
$MISSION,2
$DIVE,71
$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,-29003.277
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,231742,4742.566,-12250.331,11,1.6,20,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.1
$GPS2,232207,4742.564,-12250.314,28,1.4,28,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.138
$KALMAN_X,6181.6,148.5,-68.0,-2977.3,24.5
$KALMAN_Y,6290.9,212.9,-242.9,-1106.8,8.4
$MHEAD_RNG_PITCHd_Wd,299.3,562,-19.8,-8.333
$D_GRID,155
$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,18,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,77,0.00,0.00,-55.78,0.000,2,0.000,0.000,366,2133,3211
$GC,80,-1.34,-97.8,2.2,-4.6,9,122,11.30,0.00,-24.38,0.000,6,0.150,0.000,2379,2134,3884
$GC,187,-1.34,-97.8,9.2,-8.1,26,194,0.00,2.88,0.00,0.000,4,0.000,0.051,2378,728,3885
$GC,219,-1.34,-97.8,11.6,-7.5,31,226,0.00,2.80,0.00,0.000,6,0.000,0.030,2378,2160,3885
$GC,292,-1.34,-97.8,16.2,-5.9,42,298,0.00,2.42,0.00,0.000,4,0.000,0.050,2379,3557,3886
$GC,402,-1.34,-97.8,22.9,-6.3,55,410,0.00,2.40,0.00,0.000,6,0.000,0.034,2378,2152,3886
$GC,598,-1.34,-97.8,33.0,-4.9,71,603,0.00,2.88,0.00,0.000,4,0.000,0.052,2378,733,3887
$GC,631,-1.34,-97.8,34.7,-5.4,73,635,0.00,2.80,0.00,0.000,6,0.000,0.031,2378,2164,3887
$GC,833,-1.34,-97.8,45.2,-4.9,89,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2164,3886
$GC,1023,-1.34,-97.8,54.9,-5.2,104,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2162,3887
$GC,1213,-1.34,-97.8,64.7,-5.2,119,1218,0.00,2.42,0.00,0.000,4,0.000,0.051,2378,3566,3887
$GC,1298,-1.34,-97.8,69.8,-6.1,125,1306,0.00,2.40,0.00,0.000,6,0.000,0.035,2378,2141,3887
$GC,1501,-1.34,-97.8,80.6,-5.5,141,1505,0.00,2.85,0.00,0.000,4,0.000,0.053,2378,733,3887
$GC,1539,-1.34,-97.8,82.9,-6.4,143,1547,0.00,2.80,0.00,0.000,6,0.000,0.031,2378,2153,3887
$GC,1735,-1.34,-97.8,93.5,-5.2,159,1740,0.00,2.45,0.00,0.000,4,0.000,0.053,2378,3568,3887
$GC,1801,-1.34,-97.8,97.3,-5.9,164,1805,0.00,2.38,0.00,0.000,6,0.000,0.036,2378,2152,3887
$STATE,1850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1850,begin apogee
$GC,1854,-0.31,0.0,100.1,5.4,168,1937,1.10,0.00,76.10,0.742,6,0.084,0.000,2604,2018,3484
$STATE,1938,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1939,1.34,97.8,100.3,0.0,175,2021,1.67,0.00,74.12,0.725,6,0.053,0.000,2966,2018,3085
$GC,2209,1.34,97.8,62.7,16.8,197,2214,0.00,2.53,0.00,0.000,4,0.000,0.043,2965,3460,3083
$GC,2359,1.34,97.8,37.8,16.5,208,2368,0.00,2.47,0.00,0.000,6,0.000,0.040,2965,2058,3083
$GC,2560,1.34,97.8,8.1,13.1,230,2567,0.00,2.42,0.00,0.000,4,0.000,0.043,2965,3462,3082
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,0.4,1.020691
$STATE,2639,end surface coast,CONTROL_FINISHED_OK
$STATE,2639,begin surface
$SM_CCo,2659,124.07,0.640,0,0,2057,350.04
$SM_GC,1.06,0.00,0.00,124.07,0.000,0.000,0.640,364,2145,2057,-10.63,-0.11,350.04
$IRIDIUM_FIX,4713.38,-12646.45,230907,020215
$TT8_MAMPS,0.026845
$HUMID,2109
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,8.4
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,23.9,8.070
$10V_AH,10.2,3.772
$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,25.875,41.375,150.225,124.075,0.000,40.195,36.117,104.918,1.500,0.000,0.000,29.838,469.139,1514.612,402.097,445.735,248.084,33.324,663.808,0.000,423.277,0.000,8.687
$DEVICE_MAMPS,149.565,52.923,741.689,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,242
$CFSIZE,260034560,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,001027,4742.736,-12250.574,11,1.7,11,18.3