version: 66.02
glider: 23
mission: 2
dive: 114
start: 9 24 107 9 31 42
data:
$ID,23
$MISSION,2
$DIVE,114
$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,-29004.107
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,092637,4741.238,-12251.771,23,1.7,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.4
$GPS2,093037,4741.254,-12251.767,14,1.7,25,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,-0.185
$KALMAN_X,6063.9,-47.4,-59.3,-4483.2,-100.3
$KALMAN_Y,6438.0,-67.2,98.6,-3743.1,167.3
$MHEAD_RNG_PITCHd_Wd,168.1,3763,-19.8,-8.333
$D_GRID,106
$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,-61.95,0.000,2,0.000,0.000,365,2145,3355
$GC,86,-1.34,-97.8,2.2,-4.2,10,123,10.93,2.88,-18.90,0.000,4,0.149,0.059,2315,734,3884
$GC,374,-1.34,-97.8,23.5,-6.7,51,378,0.00,2.80,0.00,0.000,6,0.000,0.030,2315,2166,3887
$GC,569,-1.34,-97.8,35.8,-6.5,66,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2166,3888
$GC,761,-1.34,-97.8,48.9,-7.1,81,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2165,3888
$GC,949,-1.34,-97.8,62.1,-6.7,96,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2164,3888
$GC,1138,-1.34,-97.8,74.9,-6.9,111,1142,0.00,2.42,0.00,0.000,4,0.000,0.051,2315,3568,3888
$GC,1228,-1.34,-97.8,82.0,-7.7,117,1236,0.00,2.42,0.00,0.000,6,0.000,0.036,2315,2148,3888
$GC,1425,-1.34,-97.8,95.4,-6.6,133,1429,0.00,2.45,0.00,0.000,4,0.000,0.051,2315,3568,3888
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1495,-0.31,0.0,100.1,7.4,138,1576,1.12,0.00,75.93,0.742,6,0.097,0.000,2538,2039,3485
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,1.34,97.8,101.5,0.0,145,1661,1.73,3.03,74.15,0.729,4,0.067,0.059,2900,636,3084
$GC,1674,1.34,97.8,93.7,12.1,153,1678,0.00,2.80,0.00,0.000,6,0.000,0.029,2900,2052,3084
$GC,1875,1.34,97.8,68.5,12.5,169,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2052,3083
$GC,2066,1.34,97.8,44.7,12.5,184,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2052,3083
$GC,2255,1.34,97.8,22.0,11.9,199,2260,0.00,2.92,0.00,0.000,4,0.000,0.058,2900,636,3083
$GC,2293,1.34,97.8,17.0,13.4,203,2300,0.00,2.80,0.00,0.000,6,0.000,0.031,2898,2059,3083
$GC,2366,1.34,97.8,9.1,10.1,214,2372,0.00,2.42,0.00,0.000,4,0.000,0.047,2900,3462,3083
$GC,2431,1.36,116.2,3.2,7.3,224,2450,0.00,2.45,11.77,0.698,6,0.000,0.041,2900,2049,3009
$STATE,2454,end climb,SURFACE_DEPTH_REACHED
$STATE,2454,begin surface coast
$FINISH,0.3,1.003524
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2502,109.07,0.643,0,0,2056,350.04
$SM_GC,0.99,0.00,0.00,109.07,0.000,0.000,0.643,365,2176,2056,-10.33,0.76,350.04
$IRIDIUM_FIX,4722.92,-12253.53,240907,121249
$TT8_MAMPS,0.026845
$HUMID,2156
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,85.0,25.2
$24V_AH,24.0,10.923
$10V_AH,10.2,4.612
$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,25.325,32.225,161.850,109.075,0.000,39.162,36.756,79.469,1.000,0.000,0.000,26.890,440.430,1436.467,369.911,406.179,229.549,33.361,611.409,0.000,387.755,0.000,7.144
$DEVICE_MAMPS,148.798,59.059,742.456,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6431,232
$CFSIZE,260034560,254857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,101631,4741.036,-12251.730,36,1.1,36,18.3