version: 66.02
glider: 23
mission: 2
dive: 245
start: 9 29 107 6 31 57
data:
$ID,23
$MISSION,2
$DIVE,245
$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,-28671.758
$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,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
$GPS1,062056,4740.672,-12250.720,11,1.2,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.3
$GPS2,063035,4740.654,-12250.688,12,3.1,31,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.203
$KALMAN_X,12943.0,-126.7,116.0,-10118.0,208.0
$KALMAN_Y,5866.4,2.4,-90.1,-4158.9,33.9
$MHEAD_RNG_PITCHd_Wd,302.3,476,-8.6,-7.037
$D_GRID,92
$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,-0.65,-97.8,0.0,0.0,0,98,0.00,0.00,-73.35,0.000,2,0.000,0.000,367,2107,3542
$GC,101,-0.65,-97.8,2.2,-3.8,12,132,11.75,2.47,-10.73,0.000,4,0.150,0.061,2464,3500,3884
$GC,357,-0.65,-97.8,13.2,-2.9,51,364,0.00,2.38,0.00,0.000,6,0.000,0.032,2464,2086,3887
$GC,430,-0.65,-97.8,15.2,-2.8,62,436,0.00,2.85,0.00,0.000,4,0.000,0.050,2463,697,3887
$GC,523,-0.65,-97.8,18.5,-3.7,76,530,0.00,2.80,0.00,0.000,6,0.000,0.030,2464,2101,3887
$GC,601,-0.65,-97.8,21.0,-3.2,86,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2101,3887
$GC,792,-0.65,-97.8,26.8,-2.9,101,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2101,3887
$GC,981,-0.65,-97.8,32.7,-3.1,116,985,0.00,2.92,0.00,0.000,4,0.000,0.049,2464,686,3888
$GC,1072,-0.65,-97.8,36.1,-4.1,122,1079,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2103,3888
$GC,1268,-0.65,-97.8,42.4,-3.5,138,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2103,3888
$GC,1460,-0.65,-97.8,48.0,-2.8,153,1465,0.00,2.92,0.00,0.000,4,0.000,0.049,2464,690,3888
$GC,1533,-0.65,-97.8,50.3,-3.1,158,1537,0.00,2.83,0.00,0.000,6,0.000,0.031,2463,2107,3888
$GC,1728,-0.65,-97.8,55.6,-2.5,173,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2106,3888
$GC,1919,-0.65,-97.8,60.4,-2.4,188,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2106,3888
$GC,2108,-0.65,-97.8,65.4,-2.6,203,2113,0.00,2.92,0.00,0.000,4,0.000,0.049,2463,690,3888
$GC,2154,-0.65,-97.8,67.0,-3.4,206,2158,0.00,2.83,0.00,0.000,6,0.000,0.031,2463,2109,3888
$GC,2349,-0.65,-97.8,72.4,-2.9,221,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2110,3888
$GC,2539,-0.65,-97.8,77.9,-2.9,236,2543,0.00,2.92,0.00,0.000,4,0.000,0.049,2464,692,3887
$GC,2584,-0.65,-97.8,79.4,-3.0,239,2589,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2115,3888
$GC,2780,-0.65,-97.8,85.2,-2.8,254,2784,0.00,2.92,0.00,0.000,4,0.000,0.049,2463,696,3888
$STATE,2929,end dive,NO_VERTICAL_VELOCITY
$STATE,2929,begin apogee
$GC,2937,-0.31,0.0,85.4,0.0,265,3016,0.38,0.00,75.78,0.742,6,0.083,0.000,2539,1763,3484
$STATE,3017,end apogee,CONTROL_FINISHED_OK
$STATE,3017,begin climb
$GC,3020,0.65,97.8,85.0,0.0,272,3104,0.98,2.70,73.32,0.725,4,0.064,0.045,2749,3162,3085
$GC,3149,0.74,186.3,79.0,5.3,282,3222,0.08,2.65,66.70,0.709,6,0.051,0.038,2775,1751,2724
$GC,3418,0.77,212.6,61.4,6.5,304,3444,0.00,2.88,19.50,0.715,4,0.000,0.062,2775,337,2616
$GC,3488,0.77,212.6,56.3,7.8,309,3496,0.00,2.67,0.00,0.000,6,0.000,0.028,2776,1747,2616
$GC,3685,0.78,219.1,42.8,6.9,325,3698,0.00,2.88,4.15,0.754,4,0.000,0.061,2774,347,2590
$GC,3716,0.78,223.1,40.5,7.0,327,3724,0.00,2.65,3.03,0.762,6,0.000,0.028,2775,1762,2574
$GC,3912,0.83,268.9,27.7,6.1,343,3953,0.00,2.95,34.08,0.690,4,0.000,0.061,2774,339,2387
$GC,4007,0.84,270.6,21.2,7.0,350,4014,0.00,2.65,0.00,0.000,6,0.000,0.028,2775,1754,2386
$GC,4212,0.89,320.8,8.4,6.0,380,4256,0.15,2.97,37.95,0.675,4,0.061,0.062,2815,330,2177
$STATE,4260,end climb,SURFACE_DEPTH_REACHED
$STATE,4260,begin surface coast
$FINISH,2.5,1.021430
$STATE,4295,end surface coast,CONTROL_FINISHED_OK
$STATE,4295,begin surface
$SM_CCo,4319,16.65,0.694,1,0,2056,350.04
$SM_GC,1.22,0.00,0.00,16.65,0.000,0.000,0.694,366,2101,2056,-10.32,0.03,350.04
$IRIDIUM_FIX,4722.92,-12251.79,290907,101043
$TT8_MAMPS,0.026845
$HUMID,2164
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,77.2,8.3
$24V_AH,24.0,19.966
$10V_AH,10.2,7.463
$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,24.600,67.025,314.500,16.650,0.000,77.920,82.216,243.199,1.250,0.000,0.000,34.009,728.989,2527.635,428.184,723.655,553.455,33.333,849.647,0.000,687.373,0.000,8.324
$DEVICE_MAMPS,149.565,62.127,762.398,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,264.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12709,393
$CFSIZE,260034560,251277312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,074509,4740.879,-12250.742,7,1.6,8,18.3