version: 66.02
glider: 23
mission: 2
dive: 109
start: 9 24 107 5 26 19
data:
$ID,23
$MISSION,2
$DIVE,109
$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,-28969.658
$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,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
$GPS1,052139,4742.046,-12251.108,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.0
$GPS2,052515,4742.045,-12251.120,11,1.3,11,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.007,-0.186
$KALMAN_X,6315.8,7.1,0.2,-4041.9,-90.8
$KALMAN_Y,5832.3,5.4,-59.3,-1587.9,10.4
$MHEAD_RNG_PITCHd_Wd,163.8,1993,-19.8,-8.333
$D_GRID,137
$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,-61.90,0.000,2,0.000,0.000,366,2172,3346
$GC,87,-1.34,-97.8,2.2,-4.2,10,124,10.90,2.92,-18.73,0.000,4,0.147,0.058,2315,751,3885
$GC,354,-1.34,-97.8,22.8,-6.5,48,361,0.00,2.75,0.00,0.000,6,0.000,0.029,2315,2135,3887
$GC,550,-1.34,-97.8,35.1,-6.6,64,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2135,3887
$GC,740,-1.34,-97.8,47.5,-6.5,79,744,0.00,2.47,0.00,0.000,4,0.000,0.050,2315,3568,3888
$GC,918,-1.34,-97.8,60.8,-7.4,92,922,0.00,2.35,0.00,0.000,6,0.000,0.035,2315,2167,3888
$GC,1120,-1.34,-97.8,75.4,-6.9,108,1124,0.00,2.40,0.00,0.000,4,0.000,0.049,2315,3562,3888
$GC,1146,-1.34,-97.8,77.3,-7.9,110,1150,0.00,2.38,0.00,0.000,6,0.000,0.035,2315,2150,3888
$GC,1347,-1.34,-97.8,92.2,-7.1,126,1351,0.00,2.45,0.00,0.000,4,0.000,0.051,2315,3566,3888
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1453,begin apogee
$GC,1459,-0.31,0.0,100.1,7.2,134,1539,1.10,0.00,76.43,0.739,6,0.097,0.000,2536,2037,3483
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1541,begin climb
$GC,1542,1.34,97.8,101.5,0.0,141,1628,1.70,3.00,73.72,0.725,4,0.067,0.060,2896,646,3085
$GC,1641,1.34,97.8,93.5,11.9,149,1646,0.00,2.80,0.00,0.000,6,0.000,0.031,2896,2060,3084
$GC,1835,1.34,97.8,70.7,11.6,164,1840,0.00,2.95,0.00,0.000,4,0.000,0.058,2896,647,3084
$GC,1867,1.34,97.8,66.6,13.3,166,1875,0.00,2.80,0.00,0.000,6,0.000,0.031,2896,2055,3083
$GC,2063,1.34,97.8,42.3,12.3,182,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2054,3082
$GC,2255,1.34,97.8,19.7,11.7,197,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2054,3083
$GC,2326,1.34,97.8,11.3,11.1,208,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2054,3083
$GC,2397,1.34,97.8,4.3,9.9,219,2404,0.00,2.95,0.00,0.000,4,0.000,0.058,2896,635,3083
$STATE,2428,end climb,SURFACE_DEPTH_REACHED
$STATE,2428,begin surface coast
$FINISH,0.8,1.020945
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2477,126.40,0.645,0,0,2057,350.04
$SM_GC,1.12,0.00,0.00,126.40,0.000,0.000,0.645,364,2156,2057,-10.33,0.17,350.04
$IRIDIUM_FIX,4729.30,-12708.26,240907,080855
$TT8_MAMPS,0.026845
$HUMID,2173
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,8.4
$ALTIM_BOTTOM_PING,85.7,999.0
$24V_AH,23.9,10.609
$10V_AH,10.2,4.512
$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,25.200,37.875,150.150,126.400,0.000,39.801,34.519,73.442,1.500,0.000,0.000,13.454,439.038,1396.699,381.073,414.228,219.474,33.348,634.865,0.000,406.341,0.000,8.676
$DEVICE_MAMPS,147.264,59.826,739.388,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6452,228
$CFSIZE,260034560,254980096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,061038,4741.833,-12251.109,8,1.3,13,18.3