version: 66.02
glider: 23
mission: 2
dive: 111
start: 9 24 107 7 4 42
data:
$ID,23
$MISSION,2
$DIVE,111
$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,-28977.162
$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,37
$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
$GPS1,065947,4741.643,-12251.160,11,2.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.7
$GPS2,070337,4741.646,-12251.179,10,1.5,27,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.047,-0.181
$KALMAN_X,6436.6,-33.6,-84.3,-4112.7,-11.3
$KALMAN_Y,5955.8,-44.2,10.2,-2471.0,64.8
$MHEAD_RNG_PITCHd_Wd,176.2,1261,-19.8,-8.333
$D_GRID,120
$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,-61.85,0.000,2,0.000,0.000,368,2166,3345
$GC,86,-1.34,-97.8,2.3,-4.6,10,123,10.88,2.90,-18.42,0.000,4,0.147,0.058,2313,753,3884
$GC,352,-1.34,-97.8,22.0,-6.8,49,360,0.00,2.75,0.00,0.000,6,0.000,0.029,2314,2137,3888
$GC,549,-1.34,-97.8,34.7,-6.7,65,553,0.00,2.47,0.00,0.000,4,0.000,0.050,2314,3568,3888
$GC,641,-1.34,-97.8,41.7,-7.9,72,645,0.00,2.35,0.00,0.000,6,0.000,0.035,2314,2167,3888
$GC,843,-1.34,-97.8,55.8,-7.1,88,848,0.00,2.92,0.00,0.000,4,0.000,0.052,2314,725,3889
$GC,868,-1.34,-97.8,57.7,-7.5,89,876,0.00,2.83,0.00,0.000,6,0.000,0.031,2314,2151,3889
$GC,1064,-1.34,-97.8,71.4,-7.3,105,1068,0.00,2.45,0.00,0.000,4,0.000,0.051,2314,3568,3889
$GC,1320,-1.34,-97.8,91.7,-7.0,124,1328,0.00,2.42,0.00,0.000,6,0.000,0.037,2314,2144,3889
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1456,-0.31,0.0,100.6,7.0,135,1539,1.12,0.00,76.40,0.739,6,0.093,0.000,2539,2027,3483
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1541,1.34,97.8,101.7,0.0,142,1624,1.73,2.92,73.88,0.726,4,0.067,0.058,2899,646,3084
$GC,1650,1.34,97.8,91.9,13.0,151,1654,0.00,2.78,0.00,0.000,6,0.000,0.029,2901,2054,3083
$GC,1852,1.34,97.8,67.1,12.1,167,1856,0.00,2.45,0.00,0.000,4,0.000,0.046,2900,3449,3083
$GC,1864,1.34,97.8,65.4,12.7,168,1869,0.00,2.45,0.00,0.000,6,0.000,0.041,2900,2057,3082
$GC,2066,1.34,97.8,40.1,12.4,184,2071,0.00,2.92,0.00,0.000,4,0.000,0.061,2901,643,3082
$GC,2092,1.34,97.8,36.8,13.2,186,2097,0.00,2.78,0.00,0.000,6,0.000,0.030,2901,2060,3082
$GC,2290,1.34,97.8,12.5,11.3,206,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2061,3082
$GC,2362,1.34,97.8,4.5,10.6,217,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2060,3082
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,0.5,1.021066
$STATE,2432,end surface coast,CONTROL_FINISHED_OK
$STATE,2433,begin surface
$SM_CCo,2453,127.40,0.650,2,0,2056,350.04
$SM_GC,1.04,0.00,0.00,127.40,0.000,0.000,0.650,363,2170,2056,-10.34,0.59,350.04
$IRIDIUM_FIX,4726.11,-12255.26,240907,101010
$TT8_MAMPS,0.026845
$HUMID,2149
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.0
$ALTIM_BOTTOM_PING,90.3,29.9
$24V_AH,24.0,10.735
$10V_AH,10.2,4.552
$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,25.225,37.725,150.275,127.400,0.000,37.755,35.689,73.832,1.500,0.000,0.000,29.029,441.473,1359.789,394.011,438.518,218.376,33.355,650.226,0.000,412.735,0.000,11.671
$DEVICE_MAMPS,147.264,60.593,739.388,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,228
$CFSIZE,260034560,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240907,074845,4741.438,-12251.284,11,1.4,11,18.3