version: 66.02
glider: 23
mission: 2
dive: 257
start: 9 29 107 23 20 20
data:
$ID,23
$MISSION,2
$DIVE,257
$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,90
$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,-28546.682
$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,2000
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$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
$GPS1,231435,4743.797,-12249.895,8,2.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.9
$GPS2,231857,4743.849,-12249.863,11,1.4,11,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL2N
$TGT_LATLONG,4744.633,-12249.683
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.238
$KALMAN_X,13803.9,180.1,169.1,-10307.0,-47.0
$KALMAN_Y,5877.1,3.4,-80.0,1730.7,78.7
$MHEAD_RNG_PITCHd_Wd,355.7,1470,-7.5,-6.296
$D_GRID,172
$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,-0.57,-88.0,0.0,0.0,0,104,0.00,0.00,-79.35,0.000,2,0.000,0.000,368,1988,3660
$GC,106,-0.57,-88.0,2.1,-3.1,13,132,11.82,2.95,-6.00,0.000,4,0.150,0.061,2482,584,3843
$GC,383,-0.57,-88.0,13.5,-3.0,55,390,0.00,2.83,0.00,0.000,6,0.000,0.029,2482,2002,3844
$GC,456,-0.57,-88.0,15.5,-2.6,66,462,0.00,2.95,0.00,0.000,4,0.000,0.049,2482,583,3845
$GC,567,-0.57,-88.0,19.0,-3.1,83,574,0.00,2.83,0.00,0.000,6,0.000,0.029,2482,1999,3845
$GC,646,-0.57,-88.0,21.1,-2.8,92,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1999,3845
$GC,835,-0.57,-88.0,25.6,-2.3,107,840,0.00,2.95,0.00,0.000,4,0.000,0.049,2482,578,3847
$GC,881,-0.57,-88.0,26.8,-3.1,110,886,0.00,2.83,0.00,0.000,6,0.000,0.029,2482,2001,3847
$GC,1076,-0.57,-88.0,31.8,-2.7,125,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2000,3847
$GC,1268,-0.57,-88.0,37.0,-2.5,140,1273,0.00,2.95,0.00,0.000,4,0.000,0.050,2482,582,3847
$GC,1301,-0.57,-88.0,38.0,-3.1,142,1305,0.00,2.83,0.00,0.000,6,0.000,0.030,2482,2001,3847
$GC,1496,-0.57,-88.0,42.8,-2.3,157,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2001,3847
$GC,1687,-0.57,-88.0,47.6,-2.4,172,1692,0.00,2.95,0.00,0.000,4,0.000,0.050,2482,573,3846
$GC,1733,-0.57,-88.0,48.8,-2.9,175,1738,0.00,2.85,0.00,0.000,6,0.000,0.031,2482,2004,3847
$GC,1928,-0.57,-88.0,53.2,-2.2,190,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2002,3847
$GC,2119,-0.57,-88.0,57.8,-2.6,205,2124,0.00,2.95,0.00,0.000,4,0.000,0.050,2482,572,3847
$GC,2165,-0.57,-88.0,59.2,-2.9,208,2170,0.00,2.83,0.00,0.000,6,0.000,0.029,2482,1997,3847
$GC,2360,-0.57,-88.0,64.4,-2.6,223,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1996,3847
$GC,2553,-0.57,-88.0,69.5,-2.5,238,2557,0.00,2.95,0.00,0.000,4,0.000,0.051,2482,575,3847
$GC,2585,-0.57,-88.0,70.5,-2.7,240,2590,0.00,2.85,0.00,0.000,6,0.000,0.031,2482,2010,3847
$GC,2781,-0.57,-88.0,75.3,-2.5,255,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2009,3847
$GC,2971,-0.57,-88.0,80.1,-2.5,270,2976,0.00,2.95,0.00,0.000,4,0.000,0.050,2482,573,3846
$GC,3004,-0.57,-88.0,81.0,-2.5,272,3009,0.00,2.83,0.00,0.000,6,0.000,0.029,2482,1995,3847
$STATE,3173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3173,begin apogee
$GC,3179,-0.31,0.0,85.2,2.3,285,3250,0.30,0.00,68.03,0.742,6,0.089,0.000,2541,1540,3484
$STATE,3251,end apogee,CONTROL_FINISHED_OK
$STATE,3251,begin climb
$GC,3254,0.57,88.0,85.8,0.0,291,3327,0.88,2.78,66.57,0.719,4,0.072,0.042,2727,2967,3124
$GC,3372,0.64,153.6,80.5,5.1,300,3428,0.00,2.72,49.15,0.713,6,0.000,0.038,2727,1560,2857
$GC,3617,0.71,218.8,67.7,5.1,320,3672,0.17,2.70,48.85,0.702,4,0.061,0.060,2769,202,2591
$GC,3713,0.71,218.8,61.6,7.1,327,3718,0.00,2.50,0.00,0.000,6,0.000,0.028,2768,1570,2590
$GC,3908,0.71,218.8,48.6,6.6,342,3912,0.00,2.67,0.00,0.000,4,0.000,0.059,2769,202,2591
$GC,3994,0.71,218.8,42.3,7.8,348,3998,0.00,2.45,0.00,0.000,6,0.000,0.028,2769,1549,2590
$GC,4189,0.71,218.8,29.7,6.6,363,4193,0.00,2.65,0.00,0.000,4,0.000,0.041,2769,2948,2589
$GC,4240,0.71,218.8,26.1,6.7,366,4248,0.00,2.72,0.00,0.000,6,0.000,0.042,2768,1552,2589
$GC,4441,0.75,259.8,14.3,5.5,389,4478,0.00,0.00,30.23,0.684,6,0.000,0.000,2768,1551,2423
$GC,4544,0.81,314.2,8.9,5.3,405,4587,0.00,0.00,40.22,0.671,6,0.000,0.000,2769,1551,2202
$STATE,4617,end climb,SURFACE_DEPTH_REACHED
$STATE,4617,begin surface coast
$FINISH,0.2,1.001788
$STATE,4724,end surface coast,CONTROL_FINISHED_OK
$STATE,4724,begin surface
$SM_CCo,4745,20.15,0.683,0,0,2056,350.04
$SM_GC,0.61,0.00,0.00,20.15,0.000,0.000,0.683,368,1996,2056,-10.31,-0.11,350.04
$IRIDIUM_FIX,4726.11,-12243.73,300907,010136
$TT8_MAMPS,0.026845
$HUMID,2164
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.0,20.901
$10V_AH,10.2,7.827
$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,24.050,69.400,303.050,20.150,0.000,39.757,37.550,96.892,1.250,0.000,0.000,13.212,801.285,2782.789,411.717,742.307,332.267,33.341,855.127,0.000,728.622,0.000,5.545
$DEVICE_MAMPS,149.565,61.360,742.456,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,292.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12726,433
$CFSIZE,260034560,250834944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,004039,4744.181,-12249.801,9,1.8,10,18.3