version: 66.02
glider: 23
mission: 2
dive: 103
start: 9 24 107 0 27 25
data:
$ID,23
$MISSION,2
$DIVE,103
$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,-28983.637
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$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,46
$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
$GPS1,002250,4743.565,-12250.149,12,1.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.3
$GPS2,002621,4743.564,-12250.126,9,1.6,9,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.088,-0.164
$KALMAN_X,6544.1,41.1,46.3,-3111.3,44.9
$KALMAN_Y,6019.7,150.7,-63.0,898.9,-6.6
$MHEAD_RNG_PITCHd_Wd,190.0,1534,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.34,-97.8,0.0,0.0,0,84,0.00,0.00,-62.08,0.000,2,0.000,0.000,368,2168,3332
$GC,87,-1.34,-97.8,2.1,-3.8,10,130,10.88,2.42,-22.92,0.000,4,0.147,0.062,2314,3536,3884
$GC,374,-1.34,-97.8,22.7,-6.8,52,378,0.00,2.35,0.00,0.000,6,0.000,0.034,2314,2145,3886
$GC,576,-1.34,-97.8,35.7,-6.5,68,580,0.00,2.45,0.00,0.000,4,0.000,0.049,2314,3552,3887
$GC,714,-1.34,-97.8,45.7,-7.3,78,721,0.00,2.40,0.00,0.000,6,0.000,0.035,2314,2146,3888
$GC,910,-1.34,-97.8,59.2,-6.9,94,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2146,3887
$GC,1100,-1.34,-97.8,72.6,-7.1,109,1104,0.00,2.42,0.00,0.000,4,0.000,0.050,2314,3542,3888
$GC,1296,-1.34,-97.8,88.0,-8.0,123,1304,0.00,2.38,0.00,0.000,6,0.000,0.035,2314,2153,3888
$STATE,1466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1466,begin apogee
$GC,1471,-0.31,0.0,100.2,6.9,137,1553,1.12,0.00,76.12,0.738,6,0.095,0.000,2538,2019,3484
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1555,1.34,97.8,101.3,0.0,144,1641,1.70,2.92,73.82,0.722,4,0.067,0.059,2898,661,3085
$GC,1654,1.34,97.8,93.3,11.1,152,1658,0.00,2.72,0.00,0.000,6,0.000,0.029,2899,2034,3085
$GC,1848,1.34,97.8,68.8,12.5,167,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2035,3084
$GC,2038,1.34,97.8,45.9,12.2,182,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2035,3083
$GC,2228,1.34,97.8,22.7,12.1,197,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2035,3083
$GC,2424,1.34,97.8,2.5,8.5,225,2431,0.00,2.85,0.00,0.000,4,0.000,0.055,2899,656,3083
$STATE,2435,end climb,SURFACE_DEPTH_REACHED
$STATE,2435,begin surface coast
$FINISH,0.4,1.011266
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2484,121.35,0.645,0,0,2056,350.04
$SM_GC,1.00,0.00,0.00,121.35,0.000,0.000,0.645,365,2153,2056,-10.33,0.08,350.04
$IRIDIUM_FIX,4726.11,-12252.58,240907,030352
$TT8_MAMPS,0.026845
$HUMID,2155
$TCM_TEMP,19.70
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.8,999.0
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,10.231
$10V_AH,10.2,4.393
$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,25.175,26.100,149.950,121.350,0.000,37.324,35.394,72.003,3.000,0.000,0.000,11.426,437.473,1414.183,368.737,413.494,213.367,33.354,615.617,0.000,408.233,0.000,8.638
$DEVICE_MAMPS,147.264,62.127,737.854,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,231
$CFSIZE,260034560,255127552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,011205,4743.317,-12250.289,12,2.1,31,18.3