version: 66.02
glider: 23
mission: 2
dive: 252
start: 9 29 107 16 23 42
data:
$ID,23
$MISSION,2
$DIVE,252
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$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,-28601.215
$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,24
$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
$GPS1,161351,4742.425,-12250.356,9,1.9,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-63.7
$GPS2,162220,4742.452,-12250.292,32,1.9,32,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,0.067
$KALMAN_X,13437.9,211.5,-150.9,-10187.3,98.8
$KALMAN_Y,5928.8,-0.8,62.4,-1046.3,-16.9
$MHEAD_RNG_PITCHd_Wd,268.3,491,-8.3,-6.296
$D_GRID,148
$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,21,-0.62,-97.8,0.0,0.0,0,97,0.00,0.00,-73.65,0.000,2,0.000,0.000,366,2097,3537
$GC,100,-0.62,-97.8,2.2,-3.5,12,132,11.70,2.95,-11.52,0.000,4,0.146,0.057,2471,680,3884
$GC,186,-0.62,-97.8,5.4,-4.0,25,192,0.00,2.85,0.00,0.000,6,0.000,0.030,2471,2108,3885
$GC,258,-0.62,-97.8,8.2,-4.4,36,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2108,3886
$GC,330,-0.62,-97.8,11.1,-3.9,47,336,0.00,2.42,0.00,0.000,4,0.000,0.048,2471,3511,3886
$GC,389,-0.62,-97.8,13.7,-4.5,56,395,0.00,2.40,0.00,0.000,6,0.000,0.031,2471,2082,3886
$GC,461,-0.62,-97.8,15.8,-3.0,67,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2082,3886
$GC,533,-0.62,-97.8,17.9,-2.9,78,539,0.00,2.88,0.00,0.000,4,0.000,0.050,2472,694,3886
$GC,657,-0.62,-97.8,21.7,-3.2,93,664,0.00,2.85,0.00,0.000,6,0.000,0.029,2471,2105,3886
$GC,853,-0.62,-97.8,27.2,-2.7,109,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2105,3887
$GC,1046,-0.62,-97.8,32.7,-2.9,124,1051,0.00,2.92,0.00,0.000,4,0.000,0.048,2472,693,3887
$GC,1097,-0.62,-97.8,34.5,-3.4,127,1104,0.00,2.83,0.00,0.000,6,0.000,0.029,2471,2109,3887
$GC,1294,-0.62,-97.8,40.1,-2.8,143,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2108,3887
$GC,1485,-0.62,-97.8,45.4,-2.8,158,1489,0.00,2.92,0.00,0.000,4,0.000,0.049,2471,692,3887
$GC,1537,-0.62,-97.8,47.1,-3.6,161,1543,0.00,2.80,0.00,0.000,6,0.000,0.031,2471,2101,3887
$GC,1733,-0.62,-97.8,52.8,-2.9,177,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2100,3887
$GC,1923,-0.62,-97.8,58.7,-3.0,192,1928,0.00,2.90,0.00,0.000,4,0.000,0.049,2471,689,3887
$GC,1956,-0.62,-97.8,59.9,-3.6,194,1960,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2106,3887
$GC,2151,-0.62,-97.8,66.0,-3.1,209,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2106,3887
$GC,2340,-0.62,-97.8,71.5,-2.8,224,2345,0.00,2.92,0.00,0.000,4,0.000,0.050,2471,696,3887
$GC,2386,-0.62,-97.8,73.0,-3.6,227,2391,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2114,3887
$GC,2581,-0.62,-97.8,79.0,-3.3,242,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2114,3887
$STATE,2770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2770,begin apogee
$GC,2776,-0.31,0.0,85.3,3.2,257,2856,0.35,0.00,75.70,0.736,6,0.081,0.000,2542,1748,3484
$STATE,2857,end apogee,CONTROL_FINISHED_OK
$STATE,2857,begin climb
$GC,2859,0.62,97.8,86.1,0.0,264,2944,0.93,2.72,73.72,0.714,4,0.067,0.044,2741,3158,3083
$GC,2984,0.69,155.4,80.4,5.1,274,3033,0.00,2.60,43.15,0.709,6,0.000,0.038,2741,1755,2850
$GC,3222,0.72,182.4,67.4,5.7,293,3248,0.12,2.92,19.98,0.714,4,0.064,0.058,2770,339,2739
$GC,3353,0.72,182.4,58.3,7.1,303,3358,0.00,2.67,0.00,0.000,6,0.000,0.028,2770,1764,2738
$GC,3548,0.72,182.4,45.8,6.4,318,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1767,2738
$GC,3739,0.72,182.4,33.8,6.5,333,3744,0.00,2.85,0.00,0.000,4,0.000,0.061,2770,342,2738
$GC,3785,0.72,182.4,30.5,7.2,336,3789,0.00,2.65,0.00,0.000,6,0.000,0.029,2770,1756,2737
$GC,3982,0.72,186.9,18.1,6.2,353,3988,0.00,0.00,3.17,0.765,6,0.000,0.000,2770,1761,2722
$GC,4054,0.74,207.1,13.8,5.9,364,4078,0.00,2.95,14.93,0.701,4,0.000,0.061,2770,339,2639
$GC,4098,0.74,207.1,11.1,6.4,371,4104,0.00,2.67,0.00,0.000,6,0.000,0.029,2770,1756,2640
$GC,4170,0.81,267.6,7.2,5.0,382,4219,0.00,0.00,44.75,0.670,6,0.000,0.000,2770,1761,2392
$STATE,4223,end climb,SURFACE_DEPTH_REACHED
$STATE,4223,begin surface coast
$FINISH,0.2,1.012726
$STATE,4336,end surface coast,CONTROL_FINISHED_OK
$STATE,4337,begin surface
$SM_CCo,4357,42.28,0.665,0,0,2057,350.04
$SM_GC,0.82,0.00,0.00,42.28,0.000,0.000,0.665,367,2124,2057,-10.32,0.68,350.04
$IRIDIUM_FIX,4726.11,-12248.15,290907,202032
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.0,20.528
$10V_AH,10.2,7.676
$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,23.950,62.800,275.400,42.275,0.000,77.787,149.939,108.639,1.250,0.000,0.000,33.563,754.659,2561.560,425.185,715.323,493.942,33.334,847.647,0.000,683.606,0.000,5.545
$DEVICE_MAMPS,146.497,60.593,764.699,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,274.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12716,408
$CFSIZE,260034560,251019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,173826,4742.515,-12250.644,40,1.4,41,18.3