version: 66.02
glider: 23
mission: 2
dive: 76
start: 9 23 107 4 0 13
data:
$ID,23
$MISSION,2
$DIVE,76
$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,-29011.584
$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,42
$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
$GPS1,035509,4743.528,-12250.217,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.8
$GPS2,035908,4743.520,-12250.210,10,1.9,15,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,0.167
$KALMAN_X,5936.0,0.9,60.0,-2582.1,-72.9
$KALMAN_Y,6059.2,-218.2,237.2,844.8,-68.3
$MHEAD_RNG_PITCHd_Wd,8.2,2140,-19.8,-8.333
$D_GRID,168
$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,-61.60,0.000,2,0.000,0.000,363,2172,3302
$GC,85,-1.34,-97.8,2.1,-4.0,10,123,11.32,3.00,-20.75,0.000,4,0.149,0.060,2380,735,3884
$GC,254,-1.34,-97.8,12.8,-5.9,36,261,0.00,2.78,0.00,0.000,6,0.000,0.031,2379,2145,3887
$GC,326,-1.34,-97.8,16.6,-4.8,47,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2144,3887
$GC,398,-1.34,-97.8,20.2,-4.7,58,402,0.00,2.88,0.00,0.000,4,0.000,0.049,2379,736,3887
$GC,422,-1.34,-97.8,21.5,-5.2,59,430,0.00,2.80,0.00,0.000,6,0.000,0.030,2380,2150,3887
$GC,619,-1.34,-97.8,31.5,-5.1,75,623,0.00,2.45,0.00,0.000,4,0.000,0.051,2379,3559,3887
$GC,645,-1.34,-97.8,32.9,-5.3,77,649,0.00,2.38,0.00,0.000,6,0.000,0.034,2379,2148,3888
$GC,847,-1.34,-97.8,43.3,-5.3,93,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2149,3888
$GC,1037,-1.34,-97.8,52.9,-5.0,108,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2148,3888
$GC,1226,-1.34,-97.8,63.0,-5.4,123,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2148,3888
$GC,1415,-1.34,-97.8,72.8,-5.2,138,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2148,3888
$GC,1605,-1.34,-97.8,82.5,-4.9,153,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2148,3888
$GC,1793,-1.34,-97.8,92.6,-5.2,168,1798,0.00,2.88,0.00,0.000,4,0.000,0.052,2379,730,3888
$GC,1818,-1.34,-97.8,94.1,-5.9,169,1826,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2150,3889
$STATE,1925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1925,begin apogee
$GC,1929,-0.31,0.0,100.2,5.8,178,2011,1.10,0.00,76.25,0.742,6,0.084,0.000,2605,2031,3483
$STATE,2012,end apogee,CONTROL_FINISHED_OK
$STATE,2012,begin climb
$GC,2014,1.34,97.8,100.5,0.0,185,2092,1.65,0.00,73.85,0.724,6,0.054,0.000,2965,2030,3085
$GC,2275,1.34,97.8,64.4,16.5,206,2279,0.00,2.47,0.00,0.000,4,0.000,0.044,2965,3460,3084
$GC,2425,1.34,97.8,39.9,15.9,217,2433,0.00,2.47,0.00,0.000,6,0.000,0.040,2965,2059,3083
$GC,2625,1.34,97.8,9.8,14.8,238,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2059,3083
$STATE,2695,end climb,SURFACE_DEPTH_REACHED
$STATE,2695,begin surface coast
$FINISH,0.4,1.021232
$STATE,2717,end surface coast,CONTROL_FINISHED_OK
$STATE,2717,begin surface
$SM_CCo,2736,123.50,0.644,0,0,2056,350.04
$SM_GC,0.99,0.00,0.00,123.50,0.000,0.000,0.644,367,2176,2056,-10.62,0.74,350.04
$IRIDIUM_FIX,4726.11,-12250.84,230907,070759
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,8.4
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,23.9,8.400
$10V_AH,10.2,3.880
$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,25.850,27.250,150.100,123.500,0.000,38.523,34.967,93.706,1.250,0.000,0.000,17.440,475.304,1611.251,377.674,431.584,234.512,33.346,637.373,0.000,421.741,0.000,8.677
$DEVICE_MAMPS,148.798,59.826,741.689,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,252
$CFSIZE,260034560,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,044907,4743.727,-12250.046,33,1.2,33,18.3