version: 66.02
glider: 23
mission: 2
dive: 141
start: 9 25 107 13 12 44
data:
$ID,23
$MISSION,2
$DIVE,141
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,90
$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,80
$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,-28806.104
$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,2150
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,37
$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
$GPS1,130707,4740.898,-12251.557,11,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,131121,4740.890,-12251.533,12,1.6,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.253,0.111
$KALMAN_X,8418.7,400.7,-31.6,-7022.9,82.2
$KALMAN_Y,7455.0,169.6,-72.7,-5504.1,190.8
$MHEAD_RNG_PITCHd_Wd,275.4,208,-8.8,-7.407
$D_GRID,98
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.64,-78.2,0.0,0.0,0,89,0.00,0.00,-67.60,0.000,2,0.000,0.000,363,2162,3495
$GC,92,-0.64,-78.2,2.0,-1.7,11,123,11.80,3.00,-9.73,0.000,4,0.150,0.061,2465,742,3805
$GC,261,-0.64,-78.2,10.2,-3.5,37,268,0.00,2.80,0.00,0.000,6,0.000,0.032,2465,2149,3806
$GC,334,-0.64,-78.2,12.4,-2.8,48,340,0.00,2.47,0.00,0.000,4,0.000,0.052,2465,3567,3806
$GC,433,-0.64,-78.2,15.3,-2.8,63,439,0.00,2.38,0.00,0.000,6,0.000,0.034,2465,2154,3806
$GC,504,-0.64,-78.2,17.0,-1.8,74,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2154,3807
$GC,576,-0.64,-78.2,18.4,-1.8,85,583,0.00,2.45,0.00,0.000,4,0.000,0.051,2465,3563,3807
$GC,629,-0.64,-78.2,19.5,-2.4,93,635,0.00,2.38,0.00,0.000,6,0.000,0.034,2465,2147,3807
$GC,705,-0.64,-78.2,21.0,-1.8,101,709,0.00,2.88,0.00,0.000,4,0.000,0.051,2465,730,3807
$GC,769,-0.64,-78.2,22.4,-2.4,105,777,0.00,2.83,0.00,0.000,6,0.000,0.030,2465,2148,3807
$GC,966,-0.64,-78.2,26.4,-2.2,121,970,0.00,2.90,0.00,0.000,4,0.000,0.050,2465,728,3807
$GC,1056,-0.64,-78.2,28.5,-2.4,127,1064,0.00,2.83,0.00,0.000,6,0.000,0.031,2465,2145,3807
$GC,1253,-0.64,-78.2,33.2,-2.5,143,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2144,3807
$GC,1443,-0.64,-78.2,38.3,-3.0,158,1448,0.00,2.90,0.00,0.000,4,0.000,0.051,2465,726,3807
$GC,1515,-0.64,-78.2,40.5,-3.3,163,1520,0.00,2.83,0.00,0.000,6,0.000,0.031,2465,2161,3808
$GC,1711,-0.64,-78.2,46.2,-2.9,178,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2160,3808
$GC,1901,-0.64,-78.2,51.6,-2.8,193,1906,0.00,2.92,0.00,0.000,4,0.000,0.050,2465,730,3807
$GC,1940,-0.64,-78.2,52.7,-3.0,195,1946,0.00,2.80,0.00,0.000,6,0.000,0.031,2465,2153,3807
$GC,2135,-0.64,-78.2,57.8,-2.4,211,2140,0.00,2.90,0.00,0.000,4,0.000,0.051,2465,734,3807
$GC,2186,-0.64,-78.2,59.3,-2.9,214,2194,0.00,2.83,0.00,0.000,6,0.000,0.031,2465,2154,3807
$GC,2383,-0.64,-78.2,63.6,-2.2,230,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2153,3808
$GC,2573,-0.64,-78.2,68.1,-2.3,245,2578,0.00,2.92,0.00,0.000,4,0.000,0.051,2465,722,3807
$GC,2624,-0.64,-78.2,69.5,-2.6,248,2631,0.00,2.85,0.00,0.000,6,0.000,0.031,2465,2155,3807
$STATE,2705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2705,begin apogee
$GC,2711,-0.31,0.0,71.6,2.6,255,2774,0.38,0.00,60.88,0.732,6,0.087,0.000,2539,1795,3484
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2777,0.64,78.2,72.2,0.0,260,2843,0.95,2.80,59.00,0.711,4,0.068,0.057,2742,394,3164
$GC,2870,0.80,224.8,68.5,4.6,267,2993,0.20,2.67,110.53,0.691,6,0.048,0.030,2790,1817,2566
$GC,3181,0.80,224.8,46.4,7.8,292,3186,0.00,2.85,0.00,0.000,4,0.000,0.064,2790,397,2565
$GC,3232,0.80,224.8,41.8,8.6,295,3240,0.00,2.65,0.00,0.000,6,0.000,0.029,2790,1804,2565
$GC,3428,0.80,228.0,26.9,7.3,311,3435,0.00,2.83,1.98,0.778,4,0.000,0.062,2791,399,2553
$GC,3480,0.80,228.0,22.9,7.6,314,3488,0.00,2.65,0.00,0.000,6,0.000,0.029,2790,1804,2552
$GC,3684,0.86,282.2,8.8,6.4,342,3733,0.00,2.90,40.25,0.670,4,0.000,0.061,2790,399,2333
$STATE,3744,end climb,SURFACE_DEPTH_REACHED
$STATE,3744,begin surface coast
$FINISH,3.9,1.021450
$STATE,3758,end surface coast,CONTROL_FINISHED_OK
$STATE,3758,begin surface
$SM_CCo,3781,34.83,0.670,1,0,2057,350.04
$SM_GC,0.92,0.00,0.00,34.83,0.000,0.000,0.670,365,2146,2057,-10.33,-0.11,350.04
$IRIDIUM_FIX,4722.92,-12251.79,250907,151513
$TT8_MAMPS,0.026845
$HUMID,2157
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,33.2
$24V_AH,24.0,12.740
$10V_AH,10.2,5.255
$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,24.500,73.375,272.625,34.825,0.000,38.122,44.418,95.131,1.000,0.000,0.000,14.259,667.635,2105.793,429.640,633.484,283.695,33.325,820.794,0.000,619.157,0.000,6.970
$DEVICE_MAMPS,150.332,63.661,777.738,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,237.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9587,354
$CFSIZE,260034560,254062592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,141737,4740.968,-12251.740,13,1.6,30,18.3