version: 66.02
glider: 23
mission: 2
dive: 78
start: 9 23 107 5 47 31
data:
$ID,23
$MISSION,2
$DIVE,78
$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,-28998.988
$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
$GPS1,054223,4743.941,-12249.901,14,2.8,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.0
$GPS2,054626,4743.932,-12249.906,13,1.3,13,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,0.179
$KALMAN_X,6056.5,-65.7,8.4,-2206.3,-12.0
$KALMAN_Y,6135.7,-301.5,179.8,1670.8,-67.6
$MHEAD_RNG_PITCHd_Wd,357.8,1296,-19.8,-8.333
$D_GRID,172
$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,-61.60,0.000,2,0.000,0.000,364,2141,3295
$GC,85,-1.34,-97.8,2.0,-4.3,10,128,11.27,2.95,-21.58,0.000,4,0.148,0.060,2376,727,3884
$GC,133,-1.34,-97.8,4.2,-6.0,18,140,0.00,2.83,0.00,0.000,6,0.000,0.031,2376,2154,3883
$GC,205,-1.34,-97.8,9.6,-6.9,29,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2154,3886
$GC,277,-1.34,-97.8,14.0,-5.8,40,284,0.00,2.45,0.00,0.000,4,0.000,0.051,2376,3568,3887
$GC,329,-1.34,-97.8,17.3,-6.7,48,336,0.00,2.40,0.00,0.000,6,0.000,0.034,2376,2143,3887
$GC,400,-1.34,-97.8,20.9,-4.8,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2144,3887
$GC,592,-1.34,-97.8,30.6,-5.2,73,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2144,3888
$GC,779,-1.34,-97.8,40.2,-5.2,88,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2144,3888
$GC,969,-1.34,-97.8,50.3,-5.3,103,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2143,3888
$GC,1158,-1.34,-97.8,60.7,-5.8,118,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2143,3888
$GC,1347,-1.34,-97.8,71.4,-5.7,133,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2143,3888
$GC,1537,-1.34,-97.8,82.1,-5.6,148,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2142,3888
$GC,1725,-1.34,-97.8,92.6,-5.4,163,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2143,3888
$STATE,1875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1875,begin apogee
$GC,1879,-0.31,0.0,100.6,5.1,175,1962,1.12,0.00,76.18,0.746,6,0.091,0.000,2604,2022,3484
$STATE,1963,end apogee,CONTROL_FINISHED_OK
$STATE,1963,begin climb
$GC,1964,1.34,97.8,100.7,0.0,182,2047,1.70,2.55,74.28,0.728,4,0.054,0.044,2971,3464,3084
$GC,2118,1.34,97.8,81.0,16.5,194,2126,0.00,2.50,0.00,0.000,6,0.000,0.041,2971,2051,3083
$GC,2314,1.34,97.8,48.9,16.2,210,2319,0.00,2.47,0.00,0.000,4,0.000,0.043,2971,3460,3083
$GC,2393,1.34,97.8,36.0,16.8,216,2397,0.00,2.47,0.00,0.000,6,0.000,0.040,2971,2050,3083
$GC,2593,1.34,97.8,5.7,14.3,238,2600,0.00,2.47,0.00,0.000,4,0.000,0.045,2971,3457,3082
$STATE,2623,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,0.8,1.021286
$STATE,2638,end surface coast,CONTROL_FINISHED_OK
$STATE,2638,begin surface
$SM_CCo,2659,124.82,0.643,0,0,2057,350.04
$SM_GC,0.94,0.00,0.00,124.82,0.000,0.000,0.643,369,2137,2057,-10.61,-0.37,350.04
$IRIDIUM_FIX,4729.30,-12248.15,230907,080826
$TT8_MAMPS,0.026845
$HUMID,2145
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,7.9
$ALTIM_BOTTOM_PING,85.6,999.0
$24V_AH,23.9,8.525
$10V_AH,10.2,3.921
$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,25.950,25.575,150.450,124.825,0.000,39.522,38.480,92.918,1.500,0.000,0.000,15.373,460.587,1566.792,390.300,400.678,239.370,33.351,630.917,0.000,391.826,0.000,8.676
$DEVICE_MAMPS,148.031,59.826,745.524,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,245
$CFSIZE,260034560,255709184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,063445,4744.151,-12249.767,9,1.5,9,18.3