version: 66.02
glider: 23
mission: 2
dive: 75
start: 9 23 107 3 7 32
data:
$ID,23
$MISSION,2
$DIVE,75
$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,-29014.631
$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
$GPS1,030237,4743.331,-12250.341,27,1.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.8
$GPS2,030627,4743.330,-12250.345,12,1.5,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.164
$KALMAN_X,5922.9,42.8,79.3,-2797.6,-81.7
$KALMAN_Y,6052.8,-146.3,216.2,447.5,-66.0
$MHEAD_RNG_PITCHd_Wd,9.9,2529,-19.8,-8.333
$D_GRID,167
$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,17,begin dive
$GC,18,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-61.70,0.000,2,0.000,0.000,366,2139,3312
$GC,85,-1.34,-97.8,2.1,-4.1,10,122,11.30,2.88,-19.92,0.000,4,0.149,0.061,2379,734,3883
$GC,240,-1.34,-97.8,12.4,-6.2,34,247,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2157,3885
$GC,312,-1.34,-97.8,16.3,-5.1,45,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2156,3885
$GC,384,-1.34,-97.8,19.8,-4.7,56,391,0.00,2.90,0.00,0.000,4,0.000,0.049,2379,733,3886
$GC,428,-1.34,-97.8,22.3,-5.6,60,436,0.00,2.80,0.00,0.000,6,0.000,0.029,2379,2147,3887
$GC,625,-1.34,-97.8,32.6,-5.2,76,629,0.00,2.45,0.00,0.000,4,0.000,0.051,2379,3558,3886
$GC,717,-1.34,-97.8,37.9,-5.7,83,721,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2148,3887
$GC,919,-1.34,-97.8,48.7,-5.2,99,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2148,3887
$GC,1109,-1.34,-97.8,58.7,-5.5,114,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2147,3887
$GC,1298,-1.34,-97.8,69.0,-5.5,129,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2147,3887
$GC,1487,-1.34,-97.8,79.4,-5.4,144,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2147,3887
$GC,1676,-1.34,-97.8,89.6,-5.3,159,1680,0.00,2.88,0.00,0.000,4,0.000,0.053,2379,731,3887
$GC,1734,-1.34,-97.8,93.0,-5.9,163,1741,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2149,3887
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1866,begin apogee
$GC,1870,-0.31,0.0,100.6,5.6,174,1952,1.10,0.00,75.72,0.749,6,0.084,0.000,2605,2018,3483
$STATE,1953,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1955,1.34,97.8,101.2,0.0,181,2038,1.67,2.88,73.65,0.731,4,0.053,0.056,2966,658,3084
$GC,2050,1.34,97.8,92.0,14.4,189,2055,0.00,2.78,0.00,0.000,6,0.000,0.029,2967,2055,3084
$GC,2245,1.34,97.8,60.2,16.3,204,2250,0.00,2.47,0.00,0.000,4,0.000,0.046,2967,3461,3084
$GC,2392,1.34,97.8,36.9,15.7,215,2396,0.00,2.42,0.00,0.000,6,0.000,0.041,2967,2057,3083
$GC,2589,1.34,97.8,7.4,14.7,236,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2058,3082
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2641,begin surface coast
$FINISH,0.4,1.021165
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2663,begin surface
$SM_CCo,2682,122.10,0.644,0,0,2056,350.04
$SM_GC,0.99,0.00,0.00,122.10,0.000,0.000,0.644,363,2171,2056,-10.64,0.59,350.04
$IRIDIUM_FIX,4729.30,-12252.58,230907,060658
$TT8_MAMPS,0.026845
$HUMID,2164
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.3,8.0
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,8.337
$10V_AH,10.2,3.860
$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,25.875,32.800,149.375,122.100,0.000,40.737,30.986,91.004,1.500,0.000,0.000,13.681,472.593,1552.416,379.653,430.312,230.369,33.339,636.451,0.000,421.520,0.000,8.675
$DEVICE_MAMPS,148.798,60.593,748.592,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6432,247
$CFSIZE,260034560,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,035509,4743.528,-12250.217,11,1.8,11,18.3