version: 66.02
glider: 23
mission: 2
dive: 241
start: 9 29 107 0 42 44
data:
$ID,23
$MISSION,2
$DIVE,241
$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,-28726.096
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,003656,4739.665,-12252.873,36,1.5,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.5
$GPS2,004121,4739.659,-12252.875,10,1.4,10,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,0.192
$KALMAN_X,12302.2,200.3,-91.2,-12322.0,-114.8
$KALMAN_Y,5950.2,5.5,102.2,-6283.6,-155.9
$MHEAD_RNG_PITCHd_Wd,27.0,3461,-8.0,-7.037
$D_GRID,121
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.61,-97.8,0.0,0.0,0,91,0.00,0.00,-67.57,0.000,2,0.000,0.000,368,2118,3427
$GC,94,-0.61,-97.8,2.2,-3.7,11,126,11.77,3.03,-14.05,0.000,4,0.149,0.059,2474,689,3884
$GC,167,-0.61,-97.8,5.7,-3.2,22,174,0.00,2.80,0.00,0.000,6,0.000,0.029,2474,2102,3885
$GC,240,-0.61,-97.8,4.5,-0.2,33,246,0.00,2.45,0.00,0.000,4,0.000,0.050,2474,3504,3885
$GC,344,-0.61,-97.8,7.5,-2.9,49,351,0.00,2.40,0.00,0.000,6,0.000,0.032,2474,2090,3886
$GC,417,-0.61,-97.8,9.8,-3.1,60,423,0.00,2.88,0.00,0.000,4,0.000,0.050,2474,689,3887
$GC,482,-0.61,-97.8,12.6,-4.6,70,489,0.00,2.80,0.00,0.000,6,0.000,0.030,2474,2106,3887
$GC,555,-0.61,-97.8,17.1,-6.4,81,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2106,3887
$GC,627,-0.61,-97.8,18.0,0.5,92,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2106,3886
$GC,699,-0.61,-97.8,18.2,-0.8,103,705,0.00,2.45,0.00,0.000,4,0.000,0.050,2474,3515,3887
$GC,751,-0.61,-97.8,19.8,-3.3,111,757,0.00,2.40,0.00,0.000,6,0.000,0.033,2474,2094,3887
$GC,827,-0.61,-97.8,22.3,-3.2,118,831,0.00,2.88,0.00,0.000,4,0.000,0.051,2474,691,3888
$GC,872,-0.61,-97.8,23.9,-3.4,121,877,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2105,3887
$GC,1068,-0.61,-97.8,31.9,-3.6,136,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2104,3887
$GC,1258,-0.61,-97.8,36.2,-3.2,151,1263,0.00,2.90,0.00,0.000,4,0.000,0.050,2474,698,3888
$GC,1317,-0.61,-97.8,38.5,-3.9,155,1322,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2110,3888
$GC,1513,-0.61,-97.8,46.5,-4.2,170,1517,0.00,2.90,0.00,0.000,4,0.000,0.049,2474,689,3888
$GC,1545,-0.61,-97.8,47.7,-3.7,172,1550,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2101,3888
$GC,1741,-0.61,-97.8,52.8,-2.5,187,1745,0.00,2.90,0.00,0.000,4,0.000,0.050,2474,692,3888
$GC,1774,-0.61,-97.8,53.6,-2.7,189,1778,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2105,3888
$GC,1969,-0.61,-97.8,58.9,-2.7,204,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2104,3888
$GC,2160,-0.61,-97.8,64.7,-3.1,219,2164,0.00,2.90,0.00,0.000,4,0.000,0.050,2474,696,3888
$GC,2224,-0.61,-97.8,67.0,-3.3,223,2231,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2097,3888
$GC,2421,-0.61,-97.8,72.8,-2.6,239,2425,0.00,2.45,0.00,0.000,4,0.000,0.052,2474,3502,3888
$GC,2466,-0.61,-97.8,74.1,-3.1,242,2470,0.00,2.38,0.00,0.000,6,0.000,0.035,2474,2095,3888
$GC,2662,-0.61,-97.8,80.1,-3.0,257,2667,0.00,2.88,0.00,0.000,4,0.000,0.053,2474,692,3887
$GC,2735,-0.61,-97.8,82.4,-3.2,262,2739,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2107,3887
$GC,2930,-0.61,-97.8,88.0,-3.0,277,2935,0.00,2.92,0.00,0.000,4,0.000,0.051,2474,688,3887
$GC,2969,-0.61,-97.8,89.3,-3.5,279,2976,0.00,2.80,0.00,0.000,6,0.000,0.031,2474,2102,3887
$STATE,3162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3162,begin apogee
$GC,3169,-0.31,0.0,95.2,2.6,295,3249,0.32,0.00,75.50,0.747,6,0.087,0.000,2539,1735,3484
$STATE,3250,end apogee,CONTROL_FINISHED_OK
$STATE,3250,begin climb
$GC,3252,0.61,97.8,96.0,0.0,302,3334,0.98,0.00,74.05,0.728,6,0.072,0.000,2742,1736,3084
$GC,3523,0.73,212.1,83.6,5.0,324,3612,0.12,0.00,86.47,0.710,6,0.062,0.000,2771,1737,2619
$GC,3796,0.73,216.3,65.7,7.0,346,3808,0.00,2.83,2.62,0.779,4,0.000,0.055,2771,352,2601
$GC,3879,0.73,216.3,59.1,8.1,352,3886,0.00,2.67,0.00,0.000,6,0.000,0.029,2771,1761,2601
$GC,4075,0.74,222.7,45.9,6.9,368,4088,0.00,2.90,4.50,0.752,4,0.000,0.060,2771,350,2575
$GC,4106,0.75,231.2,43.7,6.9,370,4118,0.00,2.67,6.25,0.734,6,0.000,0.028,2771,1765,2541
$GC,4315,0.80,276.2,30.6,6.2,387,4356,0.00,2.92,33.38,0.693,4,0.000,0.061,2771,352,2355
$GC,4396,0.81,289.7,25.1,6.8,393,4415,0.00,2.65,9.88,0.705,6,0.000,0.029,2771,1746,2301
$GC,4610,0.92,384.9,13.3,5.3,419,4691,0.17,2.88,71.07,0.663,4,0.059,0.063,2813,355,1913
$STATE,4722,end climb,SURFACE_DEPTH_REACHED
$STATE,4722,begin surface coast
$FINISH,3.5,1.021434
$STATE,4743,end surface coast,CONTROL_FINISHED_OK
$STATE,4743,begin surface
$SM_CCo,4827,0.00,0.000,0,0,1911,385.86
$SM_GC,0.85,11.25,0.00,0.00,0.046,0.000,0.000,369,2098,1911,-10.26,-0.03,385.86
$IRIDIUM_FIX,4722.92,-12256.21,290907,030327
$TT8_MAMPS,0.026845
$HUMID,2164
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.3,24.6
$24V_AH,24.0,19.646
$10V_AH,10.2,7.340
$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,24.625,89.600,363.725,0.000,0.000,34.330,33.618,108.368,1.500,0.000,0.000,11.804,805.794,2747.482,491.219,754.523,332.193,33.337,952.852,0.000,740.174,0.000,10.044
$DEVICE_MAMPS,148.798,62.894,779.272,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,295.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12698,440
$CFSIZE,260034560,251412480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,020428,4739.874,-12252.579,15,2.5,35,18.3