version: 66.02
glider: 23
mission: 2
dive: 73
start: 9 23 107 1 20 13
data:
$ID,23
$MISSION,2
$DIVE,73
$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,-29013.096
$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,22
$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
$GPS1,010728,4742.946,-12250.486,13,2.4,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.6
$GPS2,011909,4742.922,-12250.506,13,1.8,13,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,0.173
$KALMAN_X,6049.3,106.4,47.2,-3155.4,-22.2
$KALMAN_Y,6114.7,24.6,45.5,-366.7,-15.0
$MHEAD_RNG_PITCHd_Wd,3.7,3306,-19.8,-8.333
$D_GRID,163
$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,-97.8,0.0,0.0,0,83,0.00,0.00,-61.75,0.000,2,0.000,0.000,365,2137,3302
$GC,86,-1.34,-97.8,2.0,-4.0,10,129,11.20,2.90,-22.92,0.000,4,0.146,0.059,2378,732,3884
$GC,148,-1.34,-97.8,4.6,-7.4,20,155,0.00,2.80,0.00,0.000,6,0.000,0.029,2378,2158,3885
$GC,220,-1.34,-97.8,10.2,-6.8,31,226,0.00,2.90,0.00,0.000,4,0.000,0.048,2378,735,3886
$GC,232,-1.34,-97.8,10.9,-6.3,33,239,0.00,2.78,0.00,0.000,6,0.000,0.029,2378,2153,3886
$GC,304,-1.34,-97.8,14.6,-4.7,44,311,0.00,2.45,0.00,0.000,4,0.000,0.048,2378,3569,3887
$GC,428,-1.34,-97.8,21.1,-5.6,61,436,0.00,2.40,0.00,0.000,6,0.000,0.032,2378,2153,3888
$GC,626,-1.34,-97.8,31.1,-5.0,77,630,0.00,2.88,0.00,0.000,4,0.000,0.051,2378,735,3889
$GC,649,-1.34,-97.8,32.5,-5.4,78,657,0.00,2.80,0.00,0.000,6,0.000,0.030,2378,2153,3889
$GC,847,-1.34,-97.8,43.5,-5.3,94,852,0.00,2.90,0.00,0.000,4,0.000,0.051,2378,725,3889
$GC,937,-1.34,-97.8,49.1,-6.2,100,946,0.00,2.83,0.00,0.000,6,0.000,0.031,2378,2155,3889
$GC,1134,-1.34,-97.8,59.5,-5.2,116,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2154,3889
$GC,1324,-1.34,-97.8,69.7,-5.1,131,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2154,3890
$GC,1513,-1.34,-97.8,79.4,-5.0,146,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2154,3889
$GC,1702,-1.34,-97.8,89.4,-5.3,161,1706,0.00,2.90,0.00,0.000,4,0.000,0.051,2378,730,3889
$GC,1734,-1.34,-97.8,91.3,-6.1,163,1739,0.00,2.78,0.00,0.000,6,0.000,0.031,2378,2150,3889
$STATE,1897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1898,begin apogee
$GC,1902,-0.31,0.0,100.1,5.1,176,1984,1.10,0.00,76.30,0.738,6,0.087,0.000,2603,2017,3484
$STATE,1985,end apogee,CONTROL_FINISHED_OK
$STATE,1985,begin climb
$GC,1987,1.34,97.8,100.4,0.0,183,2068,1.70,0.00,73.80,0.724,6,0.054,0.000,2969,2017,3085
$GC,2256,1.34,97.8,62.4,17.2,205,2260,0.00,2.53,0.00,0.000,4,0.000,0.044,2969,3469,3084
$GC,2428,1.34,97.8,34.1,15.5,218,2432,0.00,2.45,0.00,0.000,6,0.000,0.039,2969,2071,3083
$GC,2628,1.34,97.8,4.5,13.2,241,2635,0.00,2.45,0.00,0.000,4,0.000,0.047,2969,3455,3083
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,0.3,1.021135
$STATE,2693,end surface coast,CONTROL_FINISHED_OK
$STATE,2694,begin surface
$SM_CCo,2715,123.38,0.643,0,0,2057,350.04
$SM_GC,0.98,0.00,0.00,123.38,0.000,0.000,0.643,364,2143,2057,-10.63,-0.20,350.04
$IRIDIUM_FIX,4726.11,-12248.15,230907,050539
$TT8_MAMPS,0.026845
$HUMID,2142
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,8.4
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,23.9,8.213
$10V_AH,10.2,3.819
$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,25.850,43.200,150.100,123.375,0.000,117.346,304.962,89.518,1.750,0.000,0.000,15.355,479.062,1671.071,401.472,438.002,579.952,33.340,665.851,0.000,428.158,0.000,8.678
$DEVICE_MAMPS,145.730,59.059,737.854,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,251
$CFSIZE,260034560,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,020837,4743.131,-12250.445,25,1.3,25,18.3