version: 66.02
glider: 23
mission: 2
dive: 104
start: 9 24 107 1 17 7
data:
$ID,23
$MISSION,2
$DIVE,104
$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,-28979.818
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,011205,4743.317,-12250.289,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.1
$GPS2,011603,4743.308,-12250.271,13,1.5,13,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.088,-0.165
$KALMAN_X,6551.0,42.7,69.6,-3324.6,24.0
$KALMAN_Y,5956.4,149.6,-73.0,498.3,-33.6
$MHEAD_RNG_PITCHd_Wd,189.7,1026,-19.8,-8.333
$D_GRID,166
$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,-61.92,0.000,2,0.000,0.000,365,2153,3331
$GC,87,-1.34,-97.8,2.1,-3.9,10,130,10.88,2.50,-22.92,0.000,4,0.147,0.062,2314,3567,3884
$GC,379,-1.34,-97.8,22.9,-6.7,52,387,0.00,2.38,0.00,0.000,6,0.000,0.033,2314,2166,3887
$GC,576,-1.34,-97.8,34.6,-6.0,68,580,0.00,2.40,0.00,0.000,4,0.000,0.048,2314,3555,3888
$GC,722,-1.34,-97.8,44.8,-7.2,79,726,0.00,2.38,0.00,0.000,6,0.000,0.035,2315,2149,3888
$GC,916,-1.34,-97.8,58.4,-6.8,94,920,0.00,2.45,0.00,0.000,4,0.000,0.050,2314,3565,3888
$GC,956,-1.34,-97.8,61.3,-7.7,97,960,0.00,2.40,0.00,0.000,6,0.000,0.035,2314,2143,3888
$GC,1151,-1.34,-97.8,75.1,-6.9,112,1155,0.00,2.47,0.00,0.000,4,0.000,0.051,2314,3567,3888
$GC,1216,-1.34,-97.8,80.0,-7.5,117,1221,0.00,2.38,0.00,0.000,6,0.000,0.037,2314,2150,3888
$GC,1418,-1.34,-97.8,94.0,-6.6,133,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2150,3888
$STATE,1505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1505,begin apogee
$GC,1509,-0.31,0.0,100.2,7.0,140,1592,1.12,0.00,76.20,0.740,6,0.095,0.000,2538,2031,3484
$STATE,1593,end apogee,CONTROL_FINISHED_OK
$STATE,1593,begin climb
$GC,1594,1.34,97.8,101.4,0.0,147,1680,1.70,2.95,73.78,0.726,4,0.066,0.059,2899,661,3084
$GC,1710,1.34,97.8,91.1,12.7,156,1719,0.00,2.78,0.00,0.000,6,0.000,0.029,2899,2051,3084
$GC,1907,1.34,97.8,66.8,12.8,172,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2051,3083
$GC,2097,1.34,97.8,43.4,12.2,187,2102,0.00,2.92,0.00,0.000,4,0.000,0.058,2899,648,3083
$GC,2129,1.34,97.8,39.2,13.7,189,2133,0.00,2.78,0.00,0.000,6,0.000,0.031,2899,2056,3083
$GC,2326,1.34,97.8,15.8,11.3,207,2333,0.00,2.45,0.00,0.000,4,0.000,0.048,2899,3454,3083
$GC,2358,1.34,97.8,12.3,10.9,212,2365,0.00,2.42,0.00,0.000,6,0.000,0.039,2899,2066,3083
$GC,2431,1.34,97.8,5.0,9.4,223,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2066,3083
$STATE,2467,end climb,SURFACE_DEPTH_REACHED
$STATE,2467,begin surface coast
$FINISH,0.4,1.021009
$STATE,2495,end surface coast,CONTROL_FINISHED_OK
$STATE,2495,begin surface
$SM_CCo,2514,122.90,0.644,0,0,2057,350.04
$SM_GC,1.08,0.00,0.00,122.90,0.000,0.000,0.644,366,2175,2057,-10.32,0.71,350.04
$IRIDIUM_FIX,4729.30,-12350.28,240907,040414
$TT8_MAMPS,0.026845
$HUMID,2170
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.4
$ALTIM_BOTTOM_PING,85.5,999.0
$24V_AH,23.9,10.293
$10V_AH,10.2,4.413
$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,25.200,36.000,149.975,122.900,0.000,39.671,39.083,87.601,1.500,0.000,0.000,15.228,447.897,1416.594,381.499,420.217,239.650,33.355,640.461,0.000,411.257,0.000,8.676
$DEVICE_MAMPS,147.264,62.127,740.155,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,233
$CFSIZE,260034560,255098880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,020225,4743.051,-12250.453,39,1.1,39,18.3