version: 66.02
glider: 23
mission: 2
dive: 110
start: 9 24 107 6 15 55
data:
$ID,23
$MISSION,2
$DIVE,110
$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,-28967.043
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,061038,4741.833,-12251.109,8,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.8
$GPS2,061450,4741.833,-12251.117,14,1.3,14,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,-0.185
$KALMAN_X,6391.5,-13.1,-46.1,-4050.3,-57.3
$KALMAN_Y,5887.6,-25.0,-31.8,-2031.9,43.6
$MHEAD_RNG_PITCHd_Wd,170.2,1615,-19.8,-8.333
$D_GRID,131
$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,-61.92,0.000,2,0.000,0.000,364,2156,3348
$GC,86,-1.34,-97.8,2.3,-4.5,10,123,10.93,2.92,-18.35,0.000,4,0.148,0.059,2315,737,3883
$GC,374,-1.34,-97.8,23.0,-6.5,51,378,0.00,2.80,0.00,0.000,6,0.000,0.030,2315,2164,3886
$GC,569,-1.34,-97.8,35.8,-6.7,66,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2162,3887
$GC,761,-1.34,-97.8,48.6,-6.6,81,765,0.00,2.42,0.00,0.000,4,0.000,0.051,2315,3566,3887
$GC,873,-1.34,-97.8,57.5,-8.2,89,877,0.00,2.40,0.00,0.000,6,0.000,0.036,2315,2146,3888
$GC,1067,-1.34,-97.8,72.1,-7.6,104,1071,0.00,2.45,0.00,0.000,4,0.000,0.049,2315,3556,3888
$GC,1323,-1.34,-97.8,94.0,-8.5,123,1331,0.00,2.40,0.00,0.000,6,0.000,0.036,2315,2153,3888
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1422,-0.31,0.0,100.8,7.1,131,1504,1.12,0.00,76.25,0.739,6,0.092,0.000,2540,2020,3484
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1507,1.34,97.8,102.2,0.0,138,1590,1.73,2.90,74.03,0.726,4,0.065,0.059,2903,656,3083
$GC,1608,1.34,97.8,93.4,12.6,146,1616,0.00,2.80,0.00,0.000,6,0.000,0.030,2904,2053,3083
$GC,1804,1.34,97.8,68.9,12.6,162,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2053,3083
$GC,1994,1.34,97.8,45.4,12.2,177,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2053,3082
$GC,2185,1.34,97.8,22.3,12.1,192,2189,0.00,2.90,0.00,0.000,4,0.000,0.058,2904,657,3082
$GC,2210,1.34,97.8,18.6,13.4,194,2217,0.00,2.75,0.00,0.000,6,0.000,0.031,2904,2054,3082
$GC,2282,1.34,97.8,10.4,10.8,205,2290,0.00,2.92,0.00,0.000,4,0.000,0.058,2904,648,3082
$GC,2308,1.34,97.8,7.2,12.2,209,2315,0.00,2.78,0.00,0.000,6,0.000,0.031,2904,2056,3082
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,0.5,1.021024
$STATE,2400,end surface coast,CONTROL_FINISHED_OK
$STATE,2400,begin surface
$SM_CCo,2419,129.70,0.650,2,0,2056,350.29
$SM_GC,1.13,0.00,0.00,129.70,0.000,0.000,0.650,368,2165,2056,-10.31,0.42,350.29
$IRIDIUM_FIX,4722.92,-12249.11,240907,090904
$TT8_MAMPS,0.026845
$HUMID,2151
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,7.8
$ALTIM_BOTTOM_PING,90.6,36.6
$24V_AH,24.0,10.673
$10V_AH,10.2,4.532
$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,25.275,32.800,150.275,129.700,0.000,37.793,46.098,94.026,2.000,0.000,0.000,16.310,430.236,1353.837,395.248,412.346,250.414,33.360,639.841,0.000,399.364,0.000,11.697
$DEVICE_MAMPS,148.031,59.059,738.621,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6421,223
$CFSIZE,260034560,254959616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240907,065947,4741.643,-12251.160,11,2.8,30,18.3