version: 66.02
glider: 23
mission: 2
dive: 242
start: 9 29 107 2 10 32
data:
$ID,23
$MISSION,2
$DIVE,242
$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,-28709.283
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,020428,4739.874,-12252.579,15,2.5,35,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.0
$GPS2,020909,4739.873,-12252.585,14,1.2,14,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,0.194
$KALMAN_X,12249.3,135.3,-120.7,-11810.4,-63.2
$KALMAN_Y,5931.0,-5.0,-0.1,-5757.3,-135.1
$MHEAD_RNG_PITCHd_Wd,26.4,2928,-8.0,-7.037
$D_GRID,121
$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,-0.61,-97.8,0.0,0.0,0,97,0.00,0.00,-73.53,0.000,2,0.000,0.000,369,2099,3412
$GC,100,-0.61,-97.8,2.2,-3.5,12,131,11.77,0.00,-15.23,0.000,6,0.150,0.000,2472,2102,3884
$GC,197,-0.61,-97.8,6.6,-4.3,27,203,0.00,2.92,0.00,0.000,4,0.000,0.051,2472,693,3886
$GC,223,-0.61,-97.8,8.3,-6.1,31,229,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2105,3886
$GC,295,-0.61,-97.8,11.9,-4.6,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2105,3887
$GC,367,-0.61,-97.8,14.4,-3.1,53,373,0.00,2.92,0.00,0.000,4,0.000,0.048,2472,689,3886
$GC,399,-0.61,-97.8,15.3,-2.7,58,405,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2111,3886
$GC,472,-0.61,-97.8,16.7,-1.9,69,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2110,3886
$GC,543,-0.61,-97.8,18.3,-2.2,80,549,0.00,2.92,0.00,0.000,4,0.000,0.048,2472,694,3887
$GC,602,-0.61,-97.8,20.1,-3.6,89,608,0.00,2.80,0.00,0.000,6,0.000,0.031,2472,2100,3887
$GC,797,-0.61,-97.8,25.1,-2.1,105,802,0.00,2.45,0.00,0.000,4,0.000,0.051,2472,3509,3887
$GC,830,-0.61,-97.8,26.2,-3.6,107,835,0.00,2.38,0.00,0.000,6,0.000,0.032,2472,2096,3887
$GC,1025,-0.61,-97.8,33.1,-3.4,122,1030,0.00,2.88,0.00,0.000,4,0.000,0.051,2473,696,3888
$GC,1064,-0.61,-97.8,34.4,-3.8,124,1071,0.00,2.80,0.00,0.000,6,0.000,0.030,2472,2106,3888
$GC,1260,-0.61,-97.8,40.0,-3.0,140,1265,0.00,2.92,0.00,0.000,4,0.000,0.050,2472,686,3888
$GC,1306,-0.61,-97.8,41.7,-3.6,143,1310,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2112,3888
$GC,1501,-0.61,-97.8,48.7,-3.7,158,1505,0.00,2.42,0.00,0.000,4,0.000,0.051,2472,3509,3888
$GC,1540,-0.61,-97.8,50.1,-4.1,160,1546,0.00,2.38,0.00,0.000,6,0.000,0.034,2472,2100,3888
$GC,1736,-0.61,-97.8,57.0,-3.5,176,1740,0.00,2.90,0.00,0.000,4,0.000,0.052,2472,687,3888
$GC,1795,-0.61,-97.8,59.1,-3.6,180,1799,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2112,3887
$GC,1990,-0.61,-97.8,65.1,-3.0,195,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2111,3888
$GC,2181,-0.61,-97.8,70.9,-2.9,210,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2111,3888
$GC,2370,-0.61,-97.8,76.7,-2.7,225,2374,0.00,2.92,0.00,0.000,4,0.000,0.048,2472,690,3888
$GC,2471,-0.61,-97.8,80.1,-3.1,232,2475,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2112,3888
$GC,2666,-0.61,-97.8,87.9,-4.3,247,2671,0.00,2.92,0.00,0.000,4,0.000,0.050,2472,691,3888
$GC,2691,-0.61,-97.8,88.9,-4.0,248,2698,0.00,2.80,0.00,0.000,6,0.000,0.031,2472,2102,3888
$STATE,2861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2861,begin apogee
$GC,2867,-0.31,0.0,95.2,3.2,262,2947,0.32,0.00,75.78,0.749,6,0.087,0.000,2537,1739,3484
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2950,0.61,97.8,96.2,0.0,269,3031,0.98,0.00,74.28,0.723,6,0.069,0.000,2741,1739,3084
$GC,3220,0.73,214.2,83.0,4.9,291,3318,0.12,2.72,87.35,0.708,4,0.062,0.044,2772,3154,2610
$GC,3377,0.78,255.6,73.9,6.3,303,3413,0.00,2.62,30.70,0.703,6,0.000,0.041,2772,1763,2441
$GC,3611,0.78,255.6,58.9,7.1,322,3615,0.00,2.85,0.00,0.000,4,0.000,0.063,2772,333,2441
$GC,3683,0.78,255.6,53.2,8.1,327,3687,0.00,2.67,0.00,0.000,6,0.000,0.028,2772,1770,2441
$GC,3878,0.78,259.7,39.4,7.0,342,3891,0.00,2.95,2.75,0.769,4,0.000,0.061,2772,331,2425
$GC,3922,0.78,259.7,36.1,7.3,345,3929,0.00,2.67,0.00,0.000,6,0.000,0.028,2772,1748,2425
$GC,4119,0.81,282.8,23.7,6.6,361,4143,0.00,2.90,17.17,0.701,4,0.000,0.061,2772,328,2330
$GC,4176,0.81,282.8,19.5,7.8,366,4183,0.00,2.67,0.00,0.000,6,0.000,0.028,2772,1758,2329
$GC,4249,0.86,328.9,15.0,6.2,377,4292,0.12,2.65,34.03,0.680,4,0.061,0.041,2800,3150,2142
$GC,4305,0.86,328.9,10.7,7.8,386,4311,0.00,2.62,0.00,0.000,6,0.000,0.041,2799,1746,2142
$GC,4377,0.86,328.9,5.4,7.4,397,4383,0.00,2.83,0.00,0.000,4,0.000,0.064,2800,328,2142
$STATE,4387,end climb,SURFACE_DEPTH_REACHED
$STATE,4387,begin surface coast
$FINISH,2.0,1.021045
$STATE,4428,end surface coast,CONTROL_FINISHED_OK
$STATE,4428,begin surface
$SM_CCo,4451,13.00,0.697,0,0,2056,350.04
$SM_GC,0.87,0.00,0.00,13.00,0.000,0.000,0.697,367,2100,2056,-10.32,0.03,350.04
$IRIDIUM_FIX,4722.92,-12253.53,290907,040434
$TT8_MAMPS,0.026845
$HUMID,2151
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,19.725
$10V_AH,10.2,7.370
$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,24.475,89.850,322.050,13.000,0.000,35.340,39.644,116.306,1.500,0.000,0.000,17.578,750.146,2507.638,471.408,717.157,342.442,33.330,916.918,0.000,697.360,0.000,7.064
$DEVICE_MAMPS,149.565,63.661,768.534,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,271.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12722,405
$CFSIZE,260034560,251379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,032551,4740.163,-12252.103,10,1.5,11,18.3