version: 66.02
glider: 23
mission: 2
dive: 246
start: 9 29 107 7 51 21
data:
$ID,23
$MISSION,2
$DIVE,246
$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,-28653.027
$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,22
$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,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
$GPS1,074509,4740.879,-12250.742,7,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.9
$GPS2,074957,4740.880,-12250.737,12,1.4,12,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.055,0.267
$KALMAN_X,13122.8,-90.5,239.8,-10517.0,164.4
$KALMAN_Y,5724.4,6.6,-34.0,-3660.8,-32.8
$MHEAD_RNG_PITCHd_Wd,330.0,3063,-8.0,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.60,-97.8,0.0,0.0,0,90,0.00,0.00,-67.30,0.000,2,0.000,0.000,366,2101,3404
$GC,93,-0.60,-97.8,2.1,-3.1,11,131,11.82,2.97,-16.70,0.000,4,0.150,0.059,2474,680,3884
$GC,210,-0.60,-97.8,7.6,-4.5,29,216,0.00,2.88,0.00,0.000,6,0.000,0.031,2474,2116,3886
$GC,282,-0.60,-97.8,10.5,-3.6,40,288,0.00,2.42,0.00,0.000,4,0.000,0.051,2474,3508,3886
$GC,354,-0.60,-97.8,13.0,-3.7,51,361,0.00,2.40,0.00,0.000,6,0.000,0.032,2474,2084,3886
$GC,426,-0.60,-97.8,15.6,-3.5,62,433,0.00,2.88,0.00,0.000,4,0.000,0.051,2474,698,3886
$GC,466,-0.60,-97.8,17.1,-3.8,68,472,0.00,2.83,0.00,0.000,6,0.000,0.030,2474,2115,3885
$GC,538,-0.60,-97.8,19.3,-2.7,79,544,0.00,2.42,0.00,0.000,4,0.000,0.051,2474,3515,3886
$GC,584,-0.60,-97.8,20.7,-3.0,84,590,0.00,2.40,0.00,0.000,6,0.000,0.033,2474,2092,3886
$GC,779,-0.60,-97.8,26.2,-2.8,100,784,0.00,2.88,0.00,0.000,4,0.000,0.051,2474,693,3886
$GC,921,-0.60,-97.8,30.0,-2.7,110,925,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2109,3886
$GC,1116,-0.60,-97.8,35.4,-3.1,125,1120,0.00,2.95,0.00,0.000,4,0.000,0.051,2474,689,3887
$GC,1162,-0.60,-97.8,37.0,-3.5,128,1167,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2105,3887
$GC,1357,-0.60,-97.8,43.0,-3.1,143,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2104,3887
$GC,1548,-0.60,-97.8,48.5,-2.7,158,1553,0.00,2.92,0.00,0.000,4,0.000,0.050,2474,692,3887
$GC,1594,-0.60,-97.8,49.9,-3.2,161,1598,0.00,2.78,0.00,0.000,6,0.000,0.031,2474,2096,3886
$GC,1796,-0.60,-97.8,56.1,-3.1,177,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2096,3887
$GC,1986,-0.60,-97.8,61.1,-2.4,192,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2096,3887
$GC,2176,-0.60,-97.8,65.9,-2.4,207,2181,0.00,2.90,0.00,0.000,4,0.000,0.049,2474,696,3887
$GC,2208,-0.60,-97.8,66.9,-2.9,209,2213,0.00,2.80,0.00,0.000,6,0.000,0.030,2474,2105,3887
$GC,2404,-0.60,-97.8,72.2,-2.9,224,2408,0.00,2.92,0.00,0.000,4,0.000,0.050,2474,688,3887
$GC,2436,-0.60,-97.8,73.1,-3.3,226,2441,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2109,3887
$GC,2632,-0.60,-97.8,78.7,-2.8,241,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2108,3887
$GC,2823,-0.60,-97.8,84.0,-2.7,256,2827,0.00,2.92,0.00,0.000,4,0.000,0.049,2474,692,3887
$GC,2882,-0.60,-97.8,85.8,-2.9,260,2886,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2114,3887
$GC,3077,-0.60,-97.8,91.1,-2.9,275,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2114,3887
$STATE,3112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3112,begin apogee
$GC,3119,-0.31,0.0,92.2,2.8,278,3200,0.32,0.00,75.62,0.752,6,0.091,0.000,2538,1737,3483
$STATE,3201,end apogee,CONTROL_FINISHED_OK
$STATE,3201,begin climb
$GC,3203,0.60,97.8,92.9,0.0,285,3288,0.95,2.78,73.70,0.730,4,0.071,0.044,2739,3170,3084
$GC,3319,0.72,207.7,87.6,5.1,294,3412,0.10,2.65,82.45,0.716,6,0.051,0.038,2771,1758,2636
$GC,3602,0.75,231.4,69.5,6.6,317,3627,0.00,2.90,17.33,0.719,4,0.000,0.063,2770,336,2539
$GC,3685,0.75,231.4,63.1,7.7,323,3692,0.00,2.70,0.00,0.000,6,0.000,0.028,2770,1763,2539
$GC,3882,0.79,269.4,50.1,6.4,339,3918,0.00,2.95,28.55,0.704,4,0.000,0.061,2770,342,2384
$GC,3950,0.81,284.1,45.5,6.8,344,3970,0.00,2.67,10.68,0.713,6,0.000,0.028,2770,1754,2324
$GC,4159,0.84,313.3,32.1,6.5,361,4188,0.10,2.92,21.60,0.700,4,0.070,0.061,2793,342,2205
$GC,4235,0.84,313.3,26.2,8.0,367,4239,0.00,2.65,0.00,0.000,6,0.000,0.028,2793,1753,2205
$GC,4435,0.84,313.3,11.7,7.0,390,4442,0.00,2.85,0.00,0.000,4,0.000,0.063,2793,334,2205
$GC,4481,0.84,313.3,8.4,7.5,397,4487,0.00,2.65,0.00,0.000,6,0.000,0.029,2793,1756,2205
$STATE,4538,end climb,SURFACE_DEPTH_REACHED
$STATE,4538,begin surface coast
$FINISH,0.2,1.009519
$STATE,4638,end surface coast,CONTROL_FINISHED_OK
$STATE,4638,begin surface
$SM_CCo,4659,20.35,0.687,0,0,2057,350.04
$SM_GC,0.81,0.00,0.00,20.35,0.000,0.000,0.687,367,2109,2057,-10.32,0.25,350.04
$IRIDIUM_FIX,4726.11,-12249.11,290907,101049
$TT8_MAMPS,0.026845
$HUMID,2173
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,28.1
$24V_AH,24.0,20.044
$10V_AH,10.2,7.493
$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,24.250,84.775,309.925,20.350,0.000,40.515,41.516,116.061,0.750,0.000,0.000,14.357,793.396,2667.530,445.653,753.106,352.570,33.338,905.970,0.000,735.415,0.000,6.970
$DEVICE_MAMPS,149.565,62.894,752.427,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,283.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12711,421
$CFSIZE,260034560,251240448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,091037,4741.265,-12250.841,32,1.2,33,18.3