version: 66.02
glider: 23
mission: 2
dive: 249
start: 9 29 107 12 12 46
data:
$ID,23
$MISSION,2
$DIVE,249
$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,-28633.807
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,120638,4742.157,-12250.713,25,1.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.4
$GPS2,121123,4742.148,-12250.695,14,2.8,33,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,0.252
$KALMAN_X,13037.2,68.0,107.0,-10403.6,-166.8
$KALMAN_Y,5852.7,-36.1,52.9,-1487.7,36.3
$MHEAD_RNG_PITCHd_Wd,358.4,713,-8.6,-7.037
$D_GRID,137
$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,-0.65,-97.8,0.0,0.0,0,103,0.00,0.00,-79.50,0.000,2,0.000,0.000,365,2092,3503
$GC,106,-0.65,-97.8,2.2,-3.6,13,138,11.75,2.92,-12.23,0.000,4,0.149,0.060,2465,697,3885
$GC,356,-0.65,-97.8,14.2,-3.7,51,362,0.00,2.83,0.00,0.000,6,0.000,0.031,2465,2108,3887
$GC,428,-0.65,-97.8,17.1,-4.2,62,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2108,3886
$GC,501,-0.65,-97.8,19.3,-2.6,73,507,0.00,2.92,0.00,0.000,4,0.000,0.048,2465,699,3886
$GC,540,-0.65,-97.8,20.4,-2.9,79,544,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2109,3886
$GC,735,-0.65,-97.8,26.9,-3.6,94,740,0.00,2.95,0.00,0.000,4,0.000,0.049,2464,691,3888
$GC,854,-0.65,-97.8,30.9,-3.5,102,860,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2105,3888
$GC,1050,-0.65,-97.8,37.4,-3.1,118,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2104,3888
$GC,1240,-0.65,-97.8,43.4,-3.2,133,1244,0.00,2.92,0.00,0.000,4,0.000,0.049,2465,695,3887
$GC,1285,-0.65,-97.8,45.0,-3.4,136,1290,0.00,2.83,0.00,0.000,6,0.000,0.031,2464,2108,3888
$GC,1482,-0.65,-97.8,51.5,-3.4,151,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2107,3887
$GC,1672,-0.65,-97.8,57.8,-3.3,166,1677,0.00,2.92,0.00,0.000,4,0.000,0.050,2465,700,3888
$GC,1704,-0.65,-97.8,59.1,-3.6,168,1709,0.00,2.83,0.00,0.000,6,0.000,0.031,2465,2113,3887
$GC,1900,-0.65,-97.8,65.7,-3.5,183,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2113,3888
$GC,2090,-0.65,-97.8,72.0,-3.1,198,2095,0.00,2.92,0.00,0.000,4,0.000,0.049,2464,691,3888
$GC,2150,-0.65,-97.8,74.1,-3.8,202,2154,0.00,2.83,0.00,0.000,6,0.000,0.032,2465,2103,3887
$GC,2345,-0.65,-97.8,80.6,-3.3,217,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2102,3887
$GC,2537,-0.65,-97.8,86.7,-3.2,232,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2102,3888
$GC,2725,-0.65,-97.8,92.6,-3.0,247,2729,0.00,2.92,0.00,0.000,4,0.000,0.049,2464,689,3887
$GC,2784,-0.65,-97.8,94.6,-3.6,251,2788,0.00,2.83,0.00,0.000,6,0.000,0.032,2464,2101,3887
$STATE,2800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2800,begin apogee
$GC,2806,-0.31,0.0,95.2,3.2,252,2887,0.38,0.00,75.90,0.748,6,0.089,0.000,2539,1751,3483
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2890,0.65,97.8,95.8,0.0,259,2973,1.00,2.67,74.05,0.726,4,0.068,0.045,2748,3162,3083
$GC,2993,0.74,182.4,91.1,5.4,267,3064,0.10,2.62,63.58,0.713,6,0.061,0.037,2774,1744,2739
$GC,3261,0.74,184.3,73.1,7.0,289,3266,0.00,2.83,0.00,0.000,4,0.000,0.062,2774,341,2737
$GC,3333,0.75,188.4,67.7,7.0,294,3346,0.00,2.67,4.47,0.759,6,0.000,0.028,2774,1767,2714
$GC,3535,0.77,214.2,54.1,6.5,310,3560,0.00,2.90,19.12,0.716,4,0.000,0.060,2774,345,2610
$GC,3591,0.80,234.5,50.2,6.6,314,3612,0.00,2.67,14.75,0.713,6,0.000,0.028,2774,1749,2527
$GC,3800,0.84,278.5,36.9,6.2,331,3840,0.00,2.95,32.75,0.692,4,0.000,0.061,2774,337,2347
$GC,3875,0.87,297.7,32.1,6.7,337,3895,0.12,2.67,14.02,0.700,6,0.070,0.029,2800,1756,2270
$GC,4084,0.87,297.7,16.0,7.8,356,4091,0.00,2.88,0.00,0.000,4,0.000,0.064,2800,334,2269
$GC,4157,0.87,297.7,10.1,8.3,367,4163,0.00,2.65,0.00,0.000,6,0.000,0.029,2801,1751,2269
$STATE,4227,end climb,SURFACE_DEPTH_REACHED
$STATE,4227,begin surface coast
$FINISH,0.4,1.021447
$STATE,4307,end surface coast,CONTROL_FINISHED_OK
$STATE,4307,begin surface
$SM_CCo,4328,28.70,0.690,1,0,2056,350.04
$SM_GC,0.84,0.00,0.00,28.70,0.000,0.000,0.690,367,2104,2056,-10.31,0.11,350.04
$IRIDIUM_FIX,4722.92,-12251.79,290907,141406
$TT8_MAMPS,0.026845
$HUMID,2173
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.0,20.293
$10V_AH,10.2,7.586
$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,24.375,69.225,298.650,28.700,0.000,39.933,36.742,98.528,1.000,0.000,0.000,35.598,733.302,2490.113,439.579,705.220,322.193,33.336,852.851,0.000,670.145,0.000,8.726
$DEVICE_MAMPS,148.798,63.661,759.330,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,263.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9612,390
$CFSIZE,260034560,251138048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,132621,4742.511,-12250.397,9,1.6,10,18.3