version: 66.02
glider: 23
mission: 2
dive: 247
start: 9 29 107 9 20 6
data:
$ID,23
$MISSION,2
$DIVE,247
$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,-28636.104
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,091037,4741.265,-12250.841,32,1.2,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.4
$GPS2,091844,4741.304,-12250.858,14,1.3,14,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,0.272
$KALMAN_X,13032.2,-31.5,304.2,-10695.7,23.2
$KALMAN_Y,5789.3,-18.3,-14.9,-2938.2,-11.3
$MHEAD_RNG_PITCHd_Wd,345.7,2288,-8.0,-7.037
$D_GRID,115
$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,23,-0.61,-97.8,0.0,0.0,0,96,0.00,0.00,-71.38,0.000,2,0.000,0.000,367,2109,3495
$GC,99,-0.61,-97.8,2.2,-3.6,12,131,11.80,2.97,-13.30,0.000,4,0.150,0.058,2474,681,3883
$GC,322,-0.61,-97.8,12.1,-4.9,46,329,0.00,2.85,0.00,0.000,6,0.000,0.033,2474,2100,3886
$GC,395,-0.61,-97.8,14.7,-3.4,57,401,0.00,2.45,0.00,0.000,4,0.000,0.050,2474,3511,3886
$GC,488,-0.61,-97.8,18.9,-5.1,71,494,0.00,2.40,0.00,0.000,6,0.000,0.033,2474,2082,3886
$GC,565,-0.61,-97.8,21.9,-3.6,79,569,0.00,2.85,0.00,0.000,4,0.000,0.049,2474,693,3886
$GC,624,-0.61,-97.8,24.0,-3.4,83,628,0.00,2.83,0.00,0.000,6,0.000,0.030,2473,2112,3886
$GC,819,-0.61,-97.8,29.3,-2.9,98,824,0.00,2.95,0.00,0.000,4,0.000,0.049,2474,683,3887
$GC,852,-0.61,-97.8,30.4,-3.1,100,856,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2110,3887
$GC,1047,-0.61,-97.8,35.9,-2.9,115,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2109,3887
$GC,1238,-0.61,-97.8,41.2,-2.8,130,1242,0.00,2.95,0.00,0.000,4,0.000,0.051,2474,688,3887
$GC,1283,-0.61,-97.8,42.6,-3.1,133,1288,0.00,2.83,0.00,0.000,6,0.000,0.031,2474,2104,3887
$GC,1479,-0.61,-97.8,47.9,-2.6,148,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2103,3887
$GC,1670,-0.61,-97.8,53.1,-2.7,163,1674,0.00,2.92,0.00,0.000,4,0.000,0.049,2474,690,3887
$GC,1721,-0.61,-97.8,54.7,-3.4,166,1728,0.00,2.85,0.00,0.000,6,0.000,0.031,2474,2105,3887
$GC,1918,-0.61,-97.8,59.8,-2.4,182,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2104,3887
$GC,2108,-0.61,-97.8,64.0,-2.1,197,2113,0.00,2.92,0.00,0.000,4,0.000,0.050,2474,691,3887
$GC,2180,-0.61,-97.8,65.8,-2.6,202,2185,0.00,2.83,0.00,0.000,6,0.000,0.032,2474,2109,3887
$GC,2376,-0.61,-97.8,70.0,-2.5,217,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2108,3887
$GC,2567,-0.61,-97.8,74.8,-2.7,232,2571,0.00,2.92,0.00,0.000,4,0.000,0.050,2474,693,3887
$GC,2626,-0.61,-97.8,76.4,-2.8,236,2630,0.00,2.80,0.00,0.000,6,0.000,0.032,2474,2103,3887
$GC,2821,-0.61,-97.8,81.9,-2.9,251,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2101,3887
$GC,3012,-0.61,-97.8,87.2,-2.6,266,3016,0.00,2.90,0.00,0.000,4,0.000,0.050,2474,695,3887
$GC,3058,-0.61,-97.8,88.7,-2.9,269,3062,0.00,2.80,0.00,0.000,6,0.000,0.032,2474,2101,3887
$GC,3253,-0.61,-97.8,93.9,-2.6,284,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2100,3887
$STATE,3301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3301,begin apogee
$GC,3308,-0.31,0.0,95.2,2.6,288,3388,0.32,0.00,75.82,0.749,6,0.094,0.000,2537,1736,3483
$STATE,3389,end apogee,CONTROL_FINISHED_OK
$STATE,3389,begin climb
$GC,3391,0.61,97.8,95.6,0.0,295,3473,0.98,2.70,74.12,0.729,4,0.072,0.045,2740,3162,3084
$GC,3493,0.68,161.6,90.9,5.9,303,3548,0.00,2.60,47.92,0.719,6,0.000,0.038,2740,1759,2824
$GC,3737,0.72,205.3,76.0,6.2,323,3777,0.12,2.70,32.75,0.716,4,0.066,0.045,2767,3156,2645
$GC,3883,0.74,220.5,65.8,6.8,334,3904,0.00,2.65,11.32,0.730,6,0.000,0.041,2766,1745,2583
$GC,4092,0.82,291.0,52.9,5.8,351,4153,0.00,2.90,52.08,0.699,4,0.000,0.063,2768,341,2296
$GC,4211,0.86,333.4,45.6,6.3,360,4249,0.10,2.67,31.62,0.690,6,0.071,0.028,2792,1753,2124
$GC,4438,0.86,333.4,28.9,8.3,378,4442,0.00,2.88,0.00,0.000,4,0.000,0.064,2793,327,2124
$GC,4497,0.86,333.4,23.5,9.0,382,4502,0.00,2.67,0.00,0.000,6,0.000,0.028,2793,1757,2124
$GC,4700,0.89,356.7,7.5,6.6,409,4725,0.00,2.92,17.30,0.688,4,0.000,0.061,2792,330,2028
$STATE,4742,end climb,SURFACE_DEPTH_REACHED
$STATE,4742,begin surface coast
$FINISH,2.6,1.021402
$STATE,4783,end surface coast,CONTROL_FINISHED_OK
$STATE,4783,begin surface
$SM_CCo,4867,0.00,0.000,0,0,2024,358.14
$SM_GC,0.91,11.12,0.00,0.00,0.045,0.000,0.000,369,2095,2024,-10.26,-0.14,358.14
$IRIDIUM_FIX,4722.92,-12249.11,290907,131319
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,36.0
$24V_AH,24.0,20.130
$10V_AH,10.2,7.525
$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,24.450,79.750,342.950,0.000,0.000,79.425,77.677,162.846,1.250,0.000,0.000,16.464,787.431,2918.751,440.639,756.167,490.472,33.333,895.745,0.000,738.386,0.000,5.549
$DEVICE_MAMPS,149.565,63.661,748.592,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,284.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12717,422
$CFSIZE,260034560,251199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,104223,4741.701,-12250.843,9,5.3,29,18.3