version: 66.02
glider: 23
mission: 2
dive: 243
start: 9 29 107 3 31 56
data:
$ID,23
$MISSION,2
$DIVE,243
$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,-28692.809
$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,19
$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
$GPS1,032551,4740.163,-12252.103,10,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.3
$GPS2,033033,4740.167,-12252.103,14,1.5,14,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,0.183
$KALMAN_X,12376.4,44.4,-116.5,-11251.8,28.3
$KALMAN_Y,6053.6,-45.8,-106.6,-5190.1,-15.6
$MHEAD_RNG_PITCHd_Wd,29.5,2117,-8.0,-7.037
$D_GRID,119
$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,-97.8,0.0,0.0,0,85,0.00,0.00,-61.47,0.000,2,0.000,0.000,367,2098,3294
$GC,88,-0.61,-97.8,2.0,-3.2,10,131,11.75,2.50,-23.12,0.000,4,0.147,0.061,2473,3506,3884
$GC,153,-0.61,-97.8,3.9,-4.0,20,159,0.00,2.42,0.00,0.000,6,0.000,0.033,2473,2082,3885
$GC,225,-0.61,-97.8,6.7,-2.7,31,231,0.00,2.88,0.00,0.000,4,0.000,0.050,2473,692,3886
$GC,304,-0.61,-97.8,9.1,-3.5,43,310,0.00,2.83,0.00,0.000,6,0.000,0.030,2473,2110,3886
$GC,376,-0.61,-97.8,11.4,-2.9,54,382,0.00,2.42,0.00,0.000,4,0.000,0.049,2473,3502,3886
$GC,435,-0.61,-97.8,13.3,-3.5,63,441,0.00,2.38,0.00,0.000,6,0.000,0.032,2473,2098,3887
$GC,507,-0.61,-97.8,15.1,-2.3,74,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2098,3887
$GC,579,-0.61,-97.8,16.7,-2.4,85,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2098,3887
$GC,652,-0.61,-97.8,18.5,-2.8,96,658,0.00,2.90,0.00,0.000,4,0.000,0.050,2473,686,3888
$GC,697,-0.61,-97.8,19.9,-3.0,103,704,0.00,2.83,0.00,0.000,6,0.000,0.030,2473,2109,3888
$GC,773,-0.61,-97.8,22.3,-3.2,110,777,0.00,2.42,0.00,0.000,4,0.000,0.050,2473,3502,3888
$GC,798,-0.61,-97.8,23.3,-3.9,111,805,0.00,2.40,0.00,0.000,6,0.000,0.032,2473,2101,3887
$GC,995,-0.61,-97.8,29.3,-2.9,127,999,0.00,2.90,0.00,0.000,4,0.000,0.052,2473,697,3887
$GC,1053,-0.61,-97.8,31.3,-3.7,131,1058,0.00,2.80,0.00,0.000,6,0.000,0.031,2473,2107,3888
$GC,1249,-0.61,-97.8,37.5,-3.3,146,1254,0.00,2.92,0.00,0.000,4,0.000,0.050,2473,693,3888
$GC,1273,-0.61,-97.8,38.3,-3.4,147,1281,0.00,2.83,0.00,0.000,6,0.000,0.030,2472,2099,3888
$GC,1470,-0.61,-97.8,44.3,-2.8,163,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2099,3888
$GC,1661,-0.61,-97.8,50.2,-3.3,178,1666,0.00,2.92,0.00,0.000,4,0.000,0.051,2473,688,3888
$GC,1712,-0.61,-97.8,52.3,-3.9,181,1720,0.00,2.85,0.00,0.000,6,0.000,0.031,2473,2104,3888
$GC,1909,-0.61,-97.8,58.4,-3.1,197,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2103,3888
$GC,2100,-0.61,-97.8,64.3,-3.2,212,2105,0.00,2.92,0.00,0.000,4,0.000,0.051,2473,688,3888
$GC,2178,-0.61,-97.8,67.1,-3.8,217,2185,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2096,3888
$GC,2374,-0.61,-97.8,72.9,-2.5,233,2379,0.00,2.90,0.00,0.000,4,0.000,0.050,2473,691,3888
$GC,2407,-0.61,-97.8,73.8,-2.9,235,2411,0.00,2.80,0.00,0.000,6,0.000,0.031,2473,2106,3888
$GC,2602,-0.61,-97.8,79.0,-2.8,250,2607,0.00,2.92,0.00,0.000,4,0.000,0.049,2473,689,3888
$GC,2627,-0.61,-97.8,79.7,-2.8,251,2634,0.00,2.85,0.00,0.000,6,0.000,0.031,2473,2105,3888
$GC,2824,-0.61,-97.8,84.8,-2.6,267,2828,0.00,2.92,0.00,0.000,4,0.000,0.050,2473,689,3888
$GC,2857,-0.61,-97.8,85.7,-2.4,269,2861,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2110,3887
$GC,3052,-0.61,-97.8,90.8,-2.7,284,3056,0.00,2.92,0.00,0.000,4,0.000,0.050,2473,692,3888
$GC,3085,-0.61,-97.8,91.7,-2.7,286,3089,0.00,2.83,0.00,0.000,6,0.000,0.031,2473,2115,3887
$STATE,3189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3189,begin apogee
$GC,3196,-0.31,0.0,95.0,3.2,294,3276,0.32,0.00,75.70,0.747,6,0.084,0.000,2537,1738,3484
$STATE,3277,end apogee,CONTROL_FINISHED_OK
$STATE,3277,begin climb
$GC,3280,0.61,97.8,95.8,0.0,301,3362,0.98,2.70,74.20,0.726,4,0.071,0.045,2742,3161,3084
$GC,3389,0.71,193.3,91.4,5.3,310,3467,0.10,2.62,71.80,0.714,6,0.064,0.038,2769,1747,2694
$GC,3657,0.71,193.3,73.9,7.2,331,3661,0.00,2.83,0.00,0.000,4,0.000,0.063,2769,342,2693
$GC,3721,0.71,193.3,69.1,7.4,335,3729,0.00,2.67,0.00,0.000,6,0.000,0.028,2769,1757,2693
$GC,3918,0.81,285.7,57.2,5.4,351,3994,0.00,2.97,68.75,0.698,4,0.000,0.061,2769,333,2319
$GC,4031,0.84,310.8,50.5,6.6,360,4056,0.12,2.67,18.52,0.703,6,0.071,0.028,2794,1759,2217
$GC,4244,0.84,310.8,34.2,7.9,377,4248,0.00,2.88,0.00,0.000,4,0.000,0.064,2795,332,2216
$GC,4303,0.84,310.8,29.3,7.9,381,4308,0.00,2.65,0.00,0.000,6,0.000,0.028,2795,1752,2216
$GC,4501,0.84,310.8,14.5,7.3,401,4508,0.00,2.85,0.00,0.000,4,0.000,0.063,2795,338,2216
$GC,4547,0.84,310.8,10.9,7.9,408,4553,0.00,2.65,0.00,0.000,6,0.000,0.029,2795,1761,2216
$GC,4619,0.84,310.8,5.7,7.1,419,4625,0.00,2.88,0.00,0.000,4,0.000,0.063,2795,334,2216
$STATE,4629,end climb,SURFACE_DEPTH_REACHED
$STATE,4629,begin surface coast
$FINISH,3.1,1.021197
$STATE,4664,end surface coast,CONTROL_FINISHED_OK
$STATE,4664,begin surface
$SM_CCo,4687,22.17,0.691,0,0,2056,350.04
$SM_GC,1.28,0.00,0.00,22.17,0.000,0.000,0.691,369,2101,2056,-10.31,0.03,350.04
$IRIDIUM_FIX,4722.92,-12256.21,290907,060608
$TT8_MAMPS,0.026845
$HUMID,2175
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,36.2
$24V_AH,24.0,19.803
$10V_AH,10.2,7.400
$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,24.350,106.525,308.975,22.175,0.000,40.290,35.597,114.677,0.750,0.000,0.000,15.624,802.862,2644.022,476.720,757.580,354.326,33.329,948.493,0.000,738.121,0.000,6.979
$DEVICE_MAMPS,147.264,63.661,747.058,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,286.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12703,426
$CFSIZE,260034560,251338752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,045138,4740.445,-12251.422,27,1.0,28,18.3