version: 66.02
glider: 23
mission: 2
dive: 106
start: 9 24 107 2 54 43
data:
$ID,23
$MISSION,2
$DIVE,106
$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,-28970.777
$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,40
$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
$GPS1,024951,4742.787,-12250.634,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.2
$GPS2,025338,4742.772,-12250.625,12,1.3,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,-0.178
$KALMAN_X,6512.9,40.6,79.5,-3734.8,-29.2
$KALMAN_Y,5796.3,113.1,-79.7,-290.7,-70.2
$MHEAD_RNG_PITCHd_Wd,179.4,3458,-19.8,-8.333
$D_GRID,160
$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,19,-1.34,-97.8,0.0,0.0,0,83,0.00,0.00,-61.58,0.000,2,0.000,0.000,365,2171,3325
$GC,86,-1.34,-97.8,2.1,-3.8,10,123,10.88,2.45,-21.42,0.000,4,0.147,0.062,2312,3548,3884
$GC,374,-1.34,-97.8,23.1,-7.1,51,378,0.00,2.38,0.00,0.000,6,0.000,0.033,2312,2145,3887
$GC,576,-1.34,-97.8,36.6,-6.7,67,580,0.00,2.45,0.00,0.000,4,0.000,0.048,2312,3557,3888
$GC,826,-1.34,-97.8,54.7,-7.5,85,833,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2153,3888
$GC,1022,-1.34,-97.8,68.8,-7.2,101,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2154,3888
$GC,1212,-1.34,-97.8,82.0,-7.0,116,1216,0.00,2.42,0.00,0.000,4,0.000,0.051,2312,3548,3889
$GC,1325,-1.34,-97.8,90.4,-7.8,124,1329,0.00,2.38,0.00,0.000,6,0.000,0.036,2312,2145,3888
$STATE,1455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1455,begin apogee
$GC,1459,-0.31,0.0,100.9,8.1,134,1542,1.12,0.00,76.30,0.739,6,0.094,0.000,2537,2026,3484
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1543,begin climb
$GC,1545,1.34,97.8,102.3,0.0,141,1630,1.70,2.95,73.57,0.730,4,0.066,0.058,2898,657,3084
$GC,1674,1.34,97.8,90.1,12.8,151,1682,0.00,2.75,0.00,0.000,6,0.000,0.029,2898,2030,3085
$GC,1871,1.34,97.8,65.5,12.7,167,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2030,3084
$GC,2061,1.34,97.8,42.3,12.4,182,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2030,3083
$GC,2250,1.34,97.8,19.4,11.9,197,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2033,3083
$GC,2322,1.34,97.8,11.4,10.2,208,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2033,3083
$GC,2392,1.34,97.8,4.0,9.8,219,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2032,3082
$STATE,2423,end climb,SURFACE_DEPTH_REACHED
$STATE,2423,begin surface coast
$FINISH,0.9,1.020767
$STATE,2450,end surface coast,CONTROL_FINISHED_OK
$STATE,2451,begin surface
$SM_CCo,2470,127.50,0.650,0,0,2057,350.04
$SM_GC,1.02,0.00,0.00,127.50,0.000,0.000,0.650,365,2167,2057,-10.33,0.48,350.04
$IRIDIUM_FIX,4726.11,-12252.58,240907,060647
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.4
$ALTIM_BOTTOM_PING,85.3,999.0
$24V_AH,23.9,10.418
$10V_AH,10.2,4.452
$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,25.375,20.550,149.875,127.500,0.000,39.549,38.359,80.134,1.500,0.000,0.000,13.927,432.359,1401.163,374.917,421.131,225.647,33.349,625.726,0.000,412.469,0.000,8.679
$DEVICE_MAMPS,147.264,62.127,738.621,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6433,228
$CFSIZE,260034560,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,033851,4742.522,-12250.832,9,1.5,9,18.3