version: 66.02
glider: 23
mission: 2
dive: 108
start: 9 24 107 4 37 42
data:
$ID,23
$MISSION,2
$DIVE,108
$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,-28975.461
$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,45
$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
$GPS1,043220,4742.251,-12250.945,31,2.0,31,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.7
$GPS2,043637,4742.247,-12250.944,30,1.0,30,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,-0.184
$KALMAN_X,6408.4,23.7,35.6,-3968.4,-75.3
$KALMAN_Y,5753.0,40.3,-73.9,-1154.0,-30.9
$MHEAD_RNG_PITCHd_Wd,170.3,2411,-19.8,-8.333
$D_GRID,140
$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,-97.8,0.0,0.0,0,77,0.00,0.00,-56.05,0.000,2,0.000,0.000,363,2176,3211
$GC,80,-1.34,-97.8,2.0,-3.4,9,123,10.90,2.42,-26.83,0.000,4,0.148,0.061,2312,3543,3884
$GC,373,-1.34,-97.8,22.7,-7.7,51,381,0.00,2.40,0.00,0.000,6,0.000,0.033,2312,2147,3888
$GC,569,-1.34,-97.8,36.0,-6.8,67,573,0.00,2.42,0.00,0.000,4,0.000,0.048,2312,3540,3888
$GC,826,-1.34,-97.8,55.0,-7.3,86,833,0.00,2.38,0.00,0.000,6,0.000,0.035,2313,2154,3889
$GC,1022,-1.34,-97.8,68.6,-7.0,102,1026,0.00,2.42,0.00,0.000,4,0.000,0.050,2311,3550,3888
$GC,1251,-1.34,-97.8,86.6,-7.4,119,1259,0.00,2.40,0.00,0.000,6,0.000,0.035,2312,2151,3889
$STATE,1446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1446,begin apogee
$GC,1451,-0.31,0.0,100.3,6.8,135,1533,1.15,0.00,76.30,0.738,6,0.097,0.000,2541,2030,3484
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1536,1.34,97.8,101.6,0.0,142,1622,1.67,2.95,73.57,0.722,4,0.067,0.059,2897,658,3084
$GC,1647,1.34,97.8,91.7,13.4,151,1652,0.00,2.70,0.00,0.000,6,0.000,0.029,2897,2028,3084
$GC,1849,1.34,97.8,67.1,11.7,167,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2029,3083
$GC,2040,1.34,97.8,44.1,12.9,182,2045,0.00,2.88,0.00,0.000,4,0.000,0.058,2897,652,3083
$GC,2064,1.34,97.8,40.5,13.5,183,2072,0.00,2.80,0.00,0.000,6,0.000,0.031,2896,2058,3083
$GC,2261,1.34,97.8,17.3,12.4,200,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2062,3083
$GC,2334,1.34,97.8,9.4,11.0,211,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2060,3083
$GC,2404,1.34,97.8,2.8,8.9,222,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2060,3083
$STATE,2415,end climb,SURFACE_DEPTH_REACHED
$STATE,2415,begin surface coast
$FINISH,0.7,1.020991
$STATE,2442,end surface coast,CONTROL_FINISHED_OK
$STATE,2443,begin surface
$SM_CCo,2462,125.65,0.646,0,0,2056,350.04
$SM_GC,1.08,0.00,0.00,125.65,0.000,0.000,0.646,366,2171,2056,-10.32,0.59,350.04
$IRIDIUM_FIX,4726.11,-12253.53,240907,070719
$TT8_MAMPS,0.026845
$HUMID,2157
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,8.0
$ALTIM_BOTTOM_PING,85.1,999.0
$24V_AH,24.0,10.547
$10V_AH,10.2,4.494
$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,25.275,26.100,149.875,125.650,0.000,37.830,45.562,87.148,1.500,0.000,0.000,31.556,434.578,1367.187,382.749,451.143,240.119,33.379,640.147,0.000,424.725,0.000,8.679
$DEVICE_MAMPS,148.031,60.593,737.854,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6435,228
$CFSIZE,260034560,255004672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,052139,4742.046,-12251.108,8,1.3,8,18.3