version: 66.02
glider: 23
mission: 2
dive: 77
start: 9 23 107 4 54 8
data:
$ID,23
$MISSION,2
$DIVE,77
$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,-29004.283
$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,47
$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
$GPS1,044907,4743.727,-12250.046,33,1.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.6
$GPS2,045303,4743.725,-12250.055,12,1.3,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,0.174
$KALMAN_X,5988.8,-38.6,33.6,-2376.0,-42.4
$KALMAN_Y,6095.7,-270.6,227.1,1250.2,-72.2
$MHEAD_RNG_PITCHd_Wd,3.1,1717,-19.7,-8.333
$D_GRID,170
$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,18,-1.34,-97.8,0.0,0.0,0,82,0.00,0.00,-61.65,0.000,2,0.000,0.000,367,2176,3299
$GC,85,-1.34,-97.8,2.0,-3.9,10,127,11.27,3.03,-21.15,0.000,4,0.148,0.059,2377,726,3885
$GC,133,-1.34,-97.8,4.3,-6.1,18,140,0.00,2.78,0.00,0.000,6,0.000,0.031,2377,2132,3885
$GC,205,-1.34,-97.8,10.2,-7.2,29,212,0.00,2.50,0.00,0.000,4,0.000,0.050,2379,3569,3886
$GC,277,-1.34,-97.8,14.8,-6.0,40,284,0.00,2.40,0.00,0.000,6,0.000,0.035,2378,2151,3887
$GC,349,-1.34,-97.8,18.7,-5.1,51,355,0.00,2.90,0.00,0.000,4,0.000,0.051,2378,725,3887
$GC,374,-1.34,-97.8,20.2,-5.9,55,379,0.00,2.80,0.00,0.000,6,0.000,0.030,2377,2154,3887
$GC,570,-1.34,-97.8,30.3,-5.2,70,574,0.00,2.90,0.00,0.000,4,0.000,0.049,2377,734,3887
$GC,621,-1.34,-97.8,33.2,-5.6,73,629,0.00,2.80,0.00,0.000,6,0.000,0.030,2378,2147,3887
$GC,818,-1.34,-97.8,43.0,-5.0,89,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2146,3888
$GC,1007,-1.34,-97.8,52.8,-5.2,104,1011,0.00,2.45,0.00,0.000,4,0.000,0.052,2378,3558,3888
$GC,1039,-1.34,-97.8,54.7,-6.0,106,1043,0.00,2.38,0.00,0.000,6,0.000,0.035,2378,2146,3888
$GC,1241,-1.34,-97.8,65.6,-5.4,122,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2146,3888
$GC,1431,-1.34,-97.8,75.6,-5.4,137,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2146,3889
$GC,1620,-1.34,-97.8,85.8,-5.2,152,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2146,3888
$GC,1810,-1.34,-97.8,96.1,-5.5,167,1814,0.00,2.88,0.00,0.000,4,0.000,0.054,2378,729,3888
$GC,1855,-1.34,-97.8,98.8,-5.5,170,1859,0.00,2.78,0.00,0.000,6,0.000,0.031,2377,2150,3888
$STATE,1884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1884,begin apogee
$GC,1889,-0.31,0.0,100.5,5.6,172,1971,1.10,0.00,76.28,0.745,6,0.085,0.000,2602,2018,3483
$STATE,1972,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1974,1.34,97.8,101.1,0.0,179,2057,1.70,2.90,73.82,0.731,4,0.054,0.057,2968,656,3084
$GC,2075,1.34,97.8,90.5,15.5,187,2082,0.00,2.80,0.00,0.000,6,0.000,0.029,2968,2047,3084
$GC,2271,1.34,97.8,58.8,16.3,203,2275,0.00,2.47,0.00,0.000,4,0.000,0.046,2968,3455,3083
$GC,2434,1.34,97.8,32.4,15.7,215,2443,0.00,2.45,0.00,0.000,6,0.000,0.039,2969,2067,3082
$GC,2636,1.34,97.8,3.1,12.2,239,2643,0.00,2.45,0.00,0.000,4,0.000,0.047,2968,3455,3082
$STATE,2653,end climb,SURFACE_DEPTH_REACHED
$STATE,2653,begin surface coast
$FINISH,0.3,1.021290
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2695,124.15,0.644,0,0,2056,350.04
$SM_GC,0.96,0.00,0.00,124.15,0.000,0.000,0.644,364,2141,2056,-10.63,-0.25,350.04
$IRIDIUM_FIX,4726.11,-12252.58,230907,070728
$TT8_MAMPS,0.026845
$HUMID,2153
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.2,8.0
$ALTIM_BOTTOM_PING,85.1,999.0
$24V_AH,23.9,8.462
$10V_AH,10.2,3.901
$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,25.900,48.125,150.100,124.150,0.000,38.191,36.320,91.652,1.500,0.000,0.000,13.514,472.636,1545.724,404.976,424.839,238.696,33.348,667.979,0.000,417.924,0.000,8.677
$DEVICE_MAMPS,148.031,59.059,744.757,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6435,245
$CFSIZE,260034560,255729664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,054223,4743.941,-12249.901,14,2.8,33,18.3