version: 66.02
glider: 23
mission: 2
dive: 74
start: 9 23 107 2 14 4
data:
$ID,23
$MISSION,2
$DIVE,74
$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,-29021.908
$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,27
$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
$GPS1,020837,4743.131,-12250.445,25,1.3,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.9
$GPS2,021259,4743.124,-12250.446,11,2.9,30,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,0.167
$KALMAN_X,5961.7,77.5,80.4,-2998.0,-65.8
$KALMAN_Y,6055.1,-66.5,156.7,44.3,-47.4
$MHEAD_RNG_PITCHd_Wd,8.5,2931,-19.8,-8.333
$D_GRID,165
$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,16,begin dive
$GC,18,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-61.90,0.000,2,0.000,0.000,364,2143,3318
$GC,85,-1.34,-97.8,2.2,-4.2,10,122,11.25,2.88,-19.95,0.000,4,0.147,0.059,2377,734,3883
$GC,227,-1.34,-97.8,11.6,-5.8,32,234,0.00,2.80,0.00,0.000,6,0.000,0.031,2377,2157,3884
$GC,299,-1.34,-97.8,15.6,-5.3,43,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2156,3885
$GC,371,-1.34,-97.8,19.4,-5.5,54,377,0.00,2.45,0.00,0.000,4,0.000,0.051,2377,3569,3886
$GC,401,-1.34,-97.8,21.2,-6.0,57,409,0.00,2.42,0.00,0.000,6,0.000,0.033,2377,2148,3887
$GC,598,-1.34,-97.8,31.7,-5.6,73,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2148,3886
$GC,788,-1.34,-97.8,41.7,-5.2,88,793,0.00,2.88,0.00,0.000,4,0.000,0.054,2377,736,3887
$GC,839,-1.34,-97.8,44.7,-5.6,91,846,0.00,2.80,0.00,0.000,6,0.000,0.031,2377,2149,3887
$GC,1035,-1.34,-97.8,55.1,-5.3,107,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2147,3887
$GC,1227,-1.34,-97.8,64.9,-5.3,122,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2147,3887
$GC,1414,-1.34,-97.8,74.5,-5.1,137,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2147,3887
$GC,1604,-1.34,-97.8,84.2,-5.2,152,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2147,3887
$GC,1792,-1.34,-97.8,93.9,-5.3,167,1797,0.00,2.88,0.00,0.000,4,0.000,0.051,2377,727,3887
$GC,1837,-1.34,-97.8,96.6,-6.0,170,1845,0.00,2.80,0.00,0.000,6,0.000,0.031,2377,2145,3887
$STATE,1905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1905,begin apogee
$GC,1910,-0.31,0.0,100.3,5.3,176,1992,1.10,0.00,75.97,0.742,6,0.085,0.000,2602,2026,3484
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1995,1.34,97.8,100.3,0.0,183,2073,1.65,0.00,73.80,0.726,6,0.054,0.000,2964,2026,3084
$GC,2256,1.34,97.8,64.2,16.9,204,2260,0.00,2.50,0.00,0.000,4,0.000,0.044,2963,3462,3084
$GC,2366,1.34,97.8,45.8,16.3,212,2374,0.00,2.45,0.00,0.000,6,0.000,0.039,2963,2065,3083
$GC,2563,1.34,97.8,15.8,14.9,230,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2065,3083
$GC,2629,1.34,97.8,6.2,13.9,240,2636,0.00,2.45,0.00,0.000,4,0.000,0.045,2963,3453,3083
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,0.3,1.010733
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2702,begin surface
$SM_CCo,2722,122.65,0.640,0,0,2056,350.04
$SM_GC,1.06,0.00,0.00,122.65,0.000,0.000,0.640,366,2139,2056,-10.62,-0.31,350.04
$IRIDIUM_FIX,4726.11,-12255.26,230907,050530
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,8.0
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,8.276
$10V_AH,10.2,3.840
$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,25.800,31.750,149.775,122.650,0.000,40.574,36.114,93.705,1.500,0.000,0.000,32.697,474.735,1592.148,388.152,441.144,241.967,33.334,643.933,0.000,415.509,0.000,9.231
$DEVICE_MAMPS,147.264,59.059,741.689,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,251
$CFSIZE,260034560,255807488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,030237,4743.331,-12250.341,27,1.8,27,18.3