version: 66.02
glider: 23
mission: 2
dive: 102
start: 9 23 107 23 38 7
data:
$ID,23
$MISSION,2
$DIVE,102
$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,-28991.367
$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,37
$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
$GPS1,233331,4743.791,-12250.013,38,1.2,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.5
$GPS2,233703,4743.793,-12249.993,10,1.6,10,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.094,-0.161
$KALMAN_X,6524.4,34.8,12.0,-2885.7,67.3
$KALMAN_Y,6036.7,145.9,-43.3,1289.3,3.9
$MHEAD_RNG_PITCHd_Wd,191.9,1988,-19.8,-8.333
$D_GRID,171
$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,-62.03,0.000,2,0.000,0.000,368,2173,3321
$GC,87,-1.34,-97.8,2.1,-3.6,10,130,10.85,2.45,-22.38,0.000,4,0.146,0.061,2315,3553,3884
$GC,234,-1.34,-97.8,12.8,-8.4,33,241,0.00,2.38,0.00,0.000,6,0.000,0.033,2315,2163,3886
$GC,307,-1.34,-97.8,17.7,-6.7,44,313,0.00,2.40,0.00,0.000,4,0.000,0.048,2315,3548,3886
$GC,438,-1.34,-97.8,27.1,-6.8,57,442,0.00,2.40,0.00,0.000,6,0.000,0.033,2314,2147,3887
$GC,640,-1.34,-97.8,39.5,-6.4,73,644,0.00,2.42,0.00,0.000,4,0.000,0.049,2315,3538,3887
$GC,725,-1.34,-97.8,45.7,-7.3,79,732,0.00,2.35,0.00,0.000,6,0.000,0.035,2314,2149,3888
$GC,921,-1.34,-97.8,59.4,-6.7,95,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2149,3887
$GC,1111,-1.34,-97.8,72.3,-6.7,110,1115,0.00,2.42,0.00,0.000,4,0.000,0.050,2314,3547,3888
$GC,1368,-1.34,-97.8,91.9,-7.7,129,1372,0.00,2.40,0.00,0.000,6,0.000,0.037,2315,2147,3888
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1480,begin apogee
$GC,1484,-0.31,0.0,100.1,6.8,138,1567,1.12,0.00,76.10,0.741,6,0.095,0.000,2539,2029,3483
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1568,begin climb
$GC,1569,1.34,97.8,101.3,0.0,145,1647,1.70,0.00,73.55,0.726,6,0.066,0.000,2900,2029,3085
$GC,1830,1.34,97.8,73.0,12.5,166,1834,0.00,2.88,0.00,0.000,4,0.000,0.061,2900,656,3085
$GC,1849,1.34,97.8,70.4,13.2,167,1853,0.00,2.70,0.00,0.000,6,0.000,0.029,2900,2025,3084
$GC,2051,1.34,97.8,45.6,12.2,183,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2026,3084
$GC,2241,1.34,97.8,22.6,12.3,198,2245,0.00,2.50,0.00,0.000,4,0.000,0.046,2899,3471,3083
$GC,2273,1.34,97.8,18.9,11.9,200,2280,0.00,2.45,0.00,0.000,6,0.000,0.040,2899,2054,3083
$GC,2344,1.34,97.8,11.0,10.5,211,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2054,3083
$GC,2416,1.34,97.8,4.0,8.4,222,2423,0.00,2.92,0.00,0.000,4,0.000,0.058,2899,631,3083
$GC,2442,1.36,115.2,2.1,7.3,226,2450,0.00,2.80,3.00,0.751,2,0.000,0.033,2900,2056,3066
$STATE,2451,end climb,SURFACE_DEPTH_REACHED
$STATE,2451,begin surface coast
$FINISH,0.3,1.020973
$STATE,2475,end surface coast,CONTROL_FINISHED_OK
$STATE,2476,begin surface
$SM_CCo,2495,117.35,0.646,0,0,2057,350.04
$SM_GC,1.09,0.00,0.00,117.35,0.000,0.000,0.646,367,2168,2057,-10.32,0.51,350.04
$IRIDIUM_FIX,4726.11,-12250.84,240907,020230
$TT8_MAMPS,0.026078
$HUMID,2158
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,85.2,999.0
$24V_AH,23.9,10.170
$10V_AH,10.2,4.374
$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,25.175,35.800,152.650,117.350,0.000,38.864,30.983,74.802,1.500,0.000,0.000,11.514,448.999,1386.176,380.444,423.142,216.126,33.361,641.805,0.000,419.116,0.000,8.678
$DEVICE_MAMPS,146.497,61.360,750.893,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,231
$CFSIZE,260034560,255148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,002250,4743.565,-12250.149,12,1.5,29,18.3