version: 66.02
glider: 23
mission: 2
dive: 80
start: 9 23 107 7 20 45
data:
$ID,23
$MISSION,2
$DIVE,80
$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,30
$T_MISSION,70
$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,125
$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,-28991.199
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,071557,4744.338,-12249.719,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.5
$GPS2,071939,4744.328,-12249.721,11,1.2,11,18.3
$SPEED_LIMITS,0.192,0.225
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,0.219
$KALMAN_X,6128.3,-84.0,-17.0,-2001.5,14.9
$KALMAN_Y,6170.9,-308.2,57.6,2499.9,-38.4
$MHEAD_RNG_PITCHd_Wd,354.8,526,-22.8,-11.111
$D_GRID,173
$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,-1.56,-122.2,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,2,0.000,0.000,368,2138,3298
$GC,85,-1.56,-122.2,2.0,-4.0,10,128,11.02,2.50,-25.42,0.000,4,0.149,0.062,2331,3570,3982
$GC,273,-1.56,-122.2,17.8,-8.5,39,280,0.00,2.40,0.00,0.000,6,0.000,0.035,2331,2152,3984
$GC,343,-1.56,-122.2,23.3,-7.7,47,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2153,3984
$GC,534,-1.56,-122.2,38.4,-7.8,62,538,0.00,2.47,0.00,0.000,4,0.000,0.051,2331,3578,3984
$GC,624,-1.56,-122.2,46.4,-8.5,68,632,0.00,2.45,0.00,0.000,6,0.000,0.035,2331,2146,3984
$GC,821,-1.56,-122.2,62.0,-7.9,84,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2146,3985
$GC,1011,-1.56,-122.2,76.8,-7.7,99,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2146,3985
$GC,1199,-1.56,-122.2,91.5,-7.4,114,1204,0.00,2.47,0.00,0.000,4,0.000,0.053,2331,3569,3985
$GC,1271,-1.56,-122.2,97.5,-8.3,119,1278,0.00,2.42,0.00,0.000,6,0.000,0.037,2331,2149,3985
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1318,-0.31,0.0,101.0,8.0,123,1417,1.35,0.00,95.18,0.737,6,0.091,0.000,2604,2036,3484
$STATE,1418,end apogee,CONTROL_FINISHED_OK
$STATE,1418,begin climb
$GC,1420,1.56,122.2,101.6,0.0,131,1517,1.88,0.00,92.93,0.716,6,0.054,0.000,3017,2034,2985
$GC,1700,1.56,122.2,53.1,20.4,154,1704,0.00,2.47,0.00,0.000,4,0.000,0.041,3017,3467,2985
$GC,1958,1.56,122.2,3.1,17.2,180,1964,0.00,2.42,0.00,0.000,6,0.000,0.038,3017,2061,2982
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.4,1.021409
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,2002,108.28,0.634,0,0,2056,350.04
$SM_GC,1.00,0.00,0.00,108.28,0.000,0.000,0.634,364,2173,2056,-10.63,0.65,350.04
$IRIDIUM_FIX,4729.30,-12245.46,230907,101010
$TT8_MAMPS,0.026845
$HUMID,2145
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.0,8.0
$ALTIM_BOTTOM_PING,85.8,999.0
$24V_AH,23.9,8.658
$10V_AH,10.2,3.954
$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,26.300,19.975,188.100,108.275,0.000,34.692,35.213,86.000,1.500,0.000,0.000,12.794,356.214,1074.342,393.757,327.120,214.719,33.338,599.419,0.000,324.065,0.000,8.676
$DEVICE_MAMPS,148.798,62.127,737.087,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3324,184
$CFSIZE,260034560,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,075708,4744.525,-12249.650,31,1.0,31,18.3