version: 66.02
glider: 23
mission: 2
dive: 107
start: 9 24 107 3 46 44
data:
$ID,23
$MISSION,2
$DIVE,107
$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,-28964.52
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,033851,4742.522,-12250.832,9,1.5,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.9
$GPS2,034539,4742.507,-12250.812,11,1.9,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,-0.183
$KALMAN_X,6440.1,35.0,65.7,-3876.0,-61.3
$KALMAN_Y,5765.0,79.5,-80.9,-716.9,-57.6
$MHEAD_RNG_PITCHd_Wd,173.5,2919,-19.8,-8.333
$D_GRID,146
$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,-62.03,0.000,2,0.000,0.000,365,2166,3355
$GC,86,-1.34,-97.8,2.2,-4.5,10,123,10.85,2.40,-18.73,0.000,4,0.146,0.061,2313,3551,3885
$GC,373,-1.34,-97.8,22.1,-6.9,52,378,0.00,2.33,0.00,0.000,6,0.000,0.033,2313,2164,3888
$GC,575,-1.34,-97.8,34.3,-6.0,68,579,0.00,2.40,0.00,0.000,4,0.000,0.048,2313,3552,3889
$GC,832,-1.34,-97.8,52.8,-7.4,87,839,0.00,2.40,0.00,0.000,6,0.000,0.035,2313,2148,3890
$GC,1028,-1.34,-97.8,66.4,-7.0,103,1032,0.00,2.42,0.00,0.000,4,0.000,0.049,2313,3545,3890
$GC,1192,-1.34,-97.8,78.4,-7.2,115,1200,0.00,2.38,0.00,0.000,6,0.000,0.035,2313,2155,3889
$GC,1388,-1.34,-97.8,92.4,-7.3,131,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2155,3890
$STATE,1488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1488,begin apogee
$GC,1492,-0.31,0.0,100.5,8.2,139,1575,1.12,0.00,76.60,0.737,6,0.095,0.000,2537,2019,3483
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1577,1.34,97.8,103.4,0.0,146,1663,1.70,2.92,73.70,0.723,4,0.067,0.059,2897,667,3085
$GC,1707,1.34,97.8,92.8,11.9,156,1715,0.00,2.72,0.00,0.000,6,0.000,0.030,2897,2024,3084
$GC,1904,1.34,97.8,69.5,12.0,172,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2027,3084
$GC,2094,1.34,97.8,46.7,11.9,187,2098,0.00,2.88,0.00,0.000,4,0.000,0.059,2897,650,3083
$GC,2125,1.34,97.8,42.5,13.4,189,2130,0.00,2.78,0.00,0.000,6,0.000,0.031,2897,2058,3083
$GC,2327,1.34,97.8,18.6,11.8,205,2334,0.00,2.45,0.00,0.000,4,0.000,0.046,2897,3478,3083
$GC,2353,1.34,97.8,15.4,12.7,209,2360,0.00,2.47,0.00,0.000,6,0.000,0.041,2897,2069,3083
$GC,2426,1.34,97.8,7.7,10.4,220,2432,0.00,2.42,0.00,0.000,4,0.000,0.047,2897,3459,3083
$GC,2450,1.34,97.8,5.1,10.1,224,2457,0.00,2.47,0.00,0.000,6,0.000,0.041,2897,2046,3083
$STATE,2488,end climb,SURFACE_DEPTH_REACHED
$STATE,2488,begin surface coast
$FINISH,0.7,1.020756
$STATE,2516,end surface coast,CONTROL_FINISHED_OK
$STATE,2516,begin surface
$SM_CCo,2535,127.47,0.645,0,0,2057,350.04
$SM_GC,0.95,0.00,0.00,127.47,0.000,0.000,0.645,363,2176,2057,-10.34,0.71,350.04
$IRIDIUM_FIX,4726.11,-12250.84,240907,070713
$TT8_MAMPS,0.026845
$HUMID,2144
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,85.9,999.0
$24V_AH,24.0,10.485
$10V_AH,10.2,4.473
$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,25.250,35.850,150.300,127.475,0.000,77.553,120.071,82.513,1.500,0.000,0.000,12.720,449.822,1476.262,387.324,436.705,352.497,33.353,651.501,0.000,430.031,0.000,8.675
$DEVICE_MAMPS,146.497,61.360,737.087,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,234
$CFSIZE,260034560,255029248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,043220,4742.251,-12250.945,31,2.0,31,18.3