version: 66.02
glider: 23
mission: 2
dive: 240
start: 9 28 107 23 15 49
data:
$ID,23
$MISSION,2
$DIVE,240
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,120
$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,15
$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,-28750.107
$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,2100
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,32
$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,0
$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
$GPS1,230521,4739.573,-12253.252,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.7
$GPS2,231427,4739.578,-12253.295,15,1.8,15,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,0.152
$KALMAN_X,12239.6,279.5,1.6,-12951.5,-224.4
$KALMAN_Y,6140.6,-3.5,160.1,-6672.4,-105.7
$MHEAD_RNG_PITCHd_Wd,37.8,3959,-8.0,-7.037
$D_GRID,116
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.61,-97.8,0.0,0.0,0,90,0.00,0.00,-65.55,0.000,2,0.000,0.000,367,2254,3406
$GC,94,-0.61,-97.8,2.1,-3.4,11,131,11.73,3.20,-16.92,0.000,4,0.146,0.054,2471,692,3884
$GC,172,-0.61,-97.8,5.3,-5.7,23,178,0.00,2.80,0.00,0.000,6,0.000,0.030,2471,2101,3886
$GC,244,-0.61,-97.8,7.6,-2.8,34,250,0.00,2.45,0.00,0.000,4,0.000,0.049,2471,3509,3886
$GC,344,-0.61,-97.8,10.5,-3.1,49,350,0.00,2.40,0.00,0.000,6,0.000,0.032,2471,2086,3887
$GC,416,-0.61,-97.8,12.6,-2.7,60,422,0.00,2.85,0.00,0.000,4,0.000,0.050,2471,694,3887
$GC,475,-0.61,-97.8,14.1,-2.6,69,481,0.00,2.80,0.00,0.000,6,0.000,0.028,2471,2112,3887
$GC,548,-0.61,-97.8,15.7,-2.4,80,554,0.00,2.92,0.00,0.000,4,0.000,0.048,2471,687,3887
$GC,587,-0.61,-97.8,16.9,-3.0,86,593,0.00,2.80,0.00,0.000,6,0.000,0.029,2469,2101,3887
$GC,660,-0.61,-97.8,18.7,-2.5,97,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2101,3888
$GC,737,-0.61,-97.8,20.7,-2.5,107,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2101,3887
$GC,929,-0.61,-97.8,26.1,-2.9,122,934,0.00,2.90,0.00,0.000,4,0.000,0.049,2471,697,3888
$GC,988,-0.61,-97.8,28.2,-3.7,126,993,0.00,2.80,0.00,0.000,6,0.000,0.031,2471,2106,3888
$GC,1184,-0.61,-97.8,34.9,-3.6,141,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2105,3888
$GC,1376,-0.61,-97.8,41.5,-3.5,156,1380,0.00,2.92,0.00,0.000,4,0.000,0.049,2471,688,3888
$GC,1400,-0.61,-97.8,42.5,-3.4,157,1408,0.00,2.83,0.00,0.000,6,0.000,0.030,2471,2099,3888
$GC,1597,-0.61,-97.8,48.6,-3.3,173,1601,0.00,2.90,0.00,0.000,4,0.000,0.050,2471,694,3888
$GC,1656,-0.61,-97.8,50.8,-3.8,177,1660,0.00,2.80,0.00,0.000,6,0.000,0.031,2471,2107,3888
$GC,1851,-0.61,-97.8,57.2,-3.0,192,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2106,3888
$GC,2042,-0.61,-97.8,63.0,-2.9,207,2047,0.00,2.92,0.00,0.000,4,0.000,0.050,2471,688,3888
$GC,2081,-0.61,-97.8,64.2,-2.9,209,2088,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2113,3887
$GC,2277,-0.61,-97.8,69.8,-2.5,225,2282,0.00,2.90,0.00,0.000,4,0.000,0.054,2471,694,3888
$GC,2329,-0.61,-97.8,71.7,-3.3,229,2334,0.00,2.80,0.00,0.000,6,0.000,0.031,2471,2108,3887
$GC,2525,-0.61,-97.8,76.9,-2.5,244,2529,0.00,2.42,0.00,0.000,4,0.000,0.053,2471,3503,3887
$GC,2584,-0.61,-97.8,78.4,-2.4,248,2588,0.00,2.38,0.00,0.000,6,0.000,0.035,2471,2096,3887
$GC,2780,-0.61,-97.8,83.5,-2.7,263,2784,0.00,2.88,0.00,0.000,4,0.000,0.053,2471,689,3887
$GC,2804,-0.61,-97.8,84.2,-2.5,264,2811,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2101,3887
$GC,3001,-0.61,-97.8,89.4,-2.8,280,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2100,3886
$STATE,3189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3190,begin apogee
$GC,3195,-0.31,0.0,95.4,3.0,295,3275,0.35,0.00,75.03,0.748,6,0.084,0.000,2541,1744,3484
$STATE,3276,end apogee,CONTROL_FINISHED_OK
$STATE,3276,begin climb
$GC,3278,0.61,97.8,96.1,0.0,302,3363,0.93,2.72,73.43,0.732,4,0.070,0.044,2739,3157,3084
$GC,3394,0.71,197.9,90.8,5.2,311,3476,0.10,2.62,74.88,0.711,6,0.044,0.038,2771,1750,2676
$GC,3664,0.74,218.2,73.7,6.7,333,3688,0.00,2.92,15.00,0.720,4,0.000,0.062,2771,334,2593
$GC,3706,0.74,218.2,70.5,7.2,336,3714,0.00,2.70,0.00,0.000,6,0.000,0.028,2771,1758,2593
$GC,3903,0.75,229.4,57.2,6.8,352,3917,0.00,2.95,8.10,0.733,4,0.000,0.061,2771,331,2547
$GC,3956,0.75,229.4,53.4,7.5,356,3960,0.00,2.67,0.00,0.000,6,0.000,0.028,2770,1762,2547
$GC,4151,0.81,285.4,40.9,6.0,371,4201,0.00,2.92,41.53,0.693,4,0.000,0.061,2770,339,2319
$GC,4240,0.84,309.4,35.4,6.6,378,4266,0.10,2.65,17.77,0.694,6,0.074,0.028,2792,1758,2221
$GC,4453,0.84,309.4,19.7,7.3,395,4460,0.00,2.85,0.00,0.000,4,0.000,0.064,2792,344,2221
$GC,4512,0.84,309.4,15.2,7.6,404,4519,0.00,2.62,0.00,0.000,6,0.000,0.028,2792,1746,2221
$GC,4584,0.86,329.4,10.2,6.7,415,4603,0.00,0.00,14.45,0.689,6,0.000,0.000,2792,1748,2140
$STATE,4668,end climb,SURFACE_DEPTH_REACHED
$STATE,4668,begin surface coast
$FINISH,0.1,1.020972
$STATE,4753,end surface coast,CONTROL_FINISHED_OK
$STATE,4753,begin surface
$SM_CCo,4773,12.70,0.699,0,0,2056,350.04
$SM_GC,0.90,0.00,0.00,12.70,0.000,0.000,0.699,368,2119,2056,-10.31,0.54,350.04
$IRIDIUM_FIX,4722.92,-12253.53,290907,030349
$TT8_MAMPS,0.026845
$HUMID,2172
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,35.6
$24V_AH,24.0,19.563
$10V_AH,10.2,7.308
$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,24.150,90.400,320.175,12.700,0.000,75.305,78.127,230.859,1.750,0.000,0.000,17.157,818.320,2775.828,452.434,770.672,563.643,33.314,926.454,0.000,750.096,0.000,5.557
$DEVICE_MAMPS,146.497,63.661,747.825,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,297.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12708,441
$CFSIZE,260034560,251453440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,003656,4739.665,-12252.873,36,1.5,37,18.3