version: 66.02
glider: 23
mission: 2
dive: 269
start: 9 30 107 12 58 23
data:
$ID,23
$MISSION,2
$DIVE,269
$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,35
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-28455.055
$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,1910
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,50
$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
$GPS1,124753,4744.198,-12250.344,8,2.3,27,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.2
$GPS2,125701,4744.295,-12250.354,30,1.8,41,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,-0.258
$KALMAN_X,13608.1,-135.7,1.8,-10238.6,-19.8
$KALMAN_Y,6670.4,220.6,124.6,1338.6,68.8
$MHEAD_RNG_PITCHd_Wd,164.0,6313,-14.5,-9.048
$D_GRID,173
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,111,0.00,0.00,-85.03,0.000,2,0.000,0.000,365,1923,3746
$GC,114,-1.03,-117.3,2.2,-4.7,14,139,11.23,0.00,-6.68,0.000,6,0.148,0.000,2378,1925,3963
$GC,207,-1.03,-117.3,9.6,-7.9,28,213,0.00,2.90,0.00,0.000,4,0.000,0.051,2378,490,3963
$GC,233,-1.03,-117.3,11.7,-7.3,32,239,0.00,2.70,0.00,0.000,6,0.000,0.028,2378,1896,3963
$GC,305,-1.03,-117.3,16.6,-6.3,43,311,0.00,2.58,0.00,0.000,4,0.000,0.045,2378,3324,3965
$GC,463,-1.03,-117.3,28.8,-7.6,59,468,0.00,2.53,0.00,0.000,6,0.000,0.036,2378,1904,3965
$GC,659,-1.03,-117.3,41.5,-6.2,74,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1904,3965
$GC,850,-1.03,-117.3,52.9,-6.1,89,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1904,3966
$GC,1039,-1.03,-117.3,64.6,-6.2,104,1043,0.00,2.58,0.00,0.000,4,0.000,0.047,2378,3324,3966
$GC,1183,-1.03,-117.3,74.2,-6.3,114,1190,0.00,2.53,0.00,0.000,6,0.000,0.037,2378,1901,3966
$GC,1380,-1.03,-117.3,85.5,-5.8,130,1384,0.00,2.55,0.00,0.000,4,0.000,0.048,2378,3317,3966
$GC,1499,-1.03,-117.3,92.7,-6.2,138,1505,0.00,2.50,0.00,0.000,6,0.000,0.037,2378,1900,3966
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1540,begin apogee
$GC,1546,-0.31,0.0,95.3,5.9,142,1641,0.80,0.00,91.40,0.739,6,0.087,0.000,2540,1737,3484
$STATE,1642,end apogee,CONTROL_FINISHED_OK
$STATE,1642,begin climb
$GC,1644,1.03,117.3,96.5,0.0,150,1741,1.38,0.00,88.72,0.716,6,0.068,0.000,2832,1737,3004
$GC,1930,1.03,117.3,73.0,9.5,173,1935,0.00,2.65,0.00,0.000,4,0.000,0.041,2832,3171,3003
$GC,1968,1.03,117.3,69.4,9.1,175,1976,0.00,2.65,0.00,0.000,6,0.000,0.041,2832,1763,3003
$GC,2164,1.03,117.3,51.1,9.6,191,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1764,3002
$GC,2356,1.04,121.7,33.7,8.9,206,2361,0.00,0.00,3.12,0.764,6,0.000,0.000,2832,1764,2987
$GC,2544,1.09,172.3,18.2,7.4,222,2588,0.00,2.70,37.50,0.680,4,0.000,0.041,2832,3170,2780
$GC,2667,1.12,198.0,8.1,8.2,241,2693,0.10,2.65,18.95,0.682,6,0.058,0.042,2857,1746,2675
$STATE,2703,end climb,SURFACE_DEPTH_REACHED
$STATE,2703,begin surface coast
$FINISH,0.3,1.022247
$STATE,2757,end surface coast,CONTROL_FINISHED_OK
$STATE,2758,begin surface
$SM_CCo,2778,72.18,0.647,0,0,2056,350.04
$SM_GC,0.67,0.00,0.00,72.18,0.000,0.000,0.647,367,1937,2056,-10.32,0.76,350.04
$IRIDIUM_FIX,4729.30,-12249.89,300907,161632
$TT8_MAMPS,0.026845
$HUMID,2125
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,21.774
$10V_AH,10.2,8.127
$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,24.725,32.175,239.700,72.175,0.000,78.953,81.599,207.450,2.000,0.000,0.000,43.277,481.508,1581.831,409.174,478.041,493.901,33.330,688.438,0.000,440.961,0.000,7.061
$DEVICE_MAMPS,148.031,51.389,763.932,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6428,255
$CFSIZE,260034560,250519552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,134707,4744.076,-12250.326,13,1.2,29,18.3