version: 66.02
glider: 23
mission: 2
dive: 244
start: 9 29 107 4 57 14
data:
$ID,23
$MISSION,2
$DIVE,244
$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,-28672.947
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,045138,4740.445,-12251.422,27,1.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.5
$GPS2,045551,4740.435,-12251.403,12,1.8,12,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.216
$KALMAN_X,12639.9,-63.8,-18.0,-10635.4,122.7
$KALMAN_Y,6070.9,-46.7,-124.0,-4690.7,67.7
$MHEAD_RNG_PITCHd_Wd,19.3,1143,-8.0,-7.037
$D_GRID,99
$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,-97.8,0.0,0.0,0,91,0.00,0.00,-67.55,0.000,2,0.000,0.000,369,2100,3416
$GC,94,-0.61,-97.8,2.1,-3.5,11,131,11.75,3.00,-15.48,0.000,4,0.149,0.061,2471,691,3884
$GC,244,-0.61,-97.8,8.5,-3.3,34,250,0.00,2.85,0.00,0.000,6,0.000,0.030,2471,2120,3887
$GC,316,-0.61,-97.8,10.2,-2.5,45,323,0.00,2.97,0.00,0.000,4,0.000,0.048,2471,682,3887
$GC,369,-0.61,-97.8,12.0,-3.5,53,375,0.00,2.85,0.00,0.000,6,0.000,0.031,2471,2106,3887
$GC,441,-0.61,-97.8,14.3,-3.3,64,447,0.00,2.45,0.00,0.000,4,0.000,0.051,2471,3514,3887
$GC,535,-0.61,-97.8,17.7,-3.6,78,541,0.00,2.40,0.00,0.000,6,0.000,0.033,2471,2085,3887
$GC,607,-0.61,-97.8,20.0,-2.9,89,613,0.00,2.88,0.00,0.000,4,0.000,0.051,2471,695,3887
$GC,646,-0.61,-97.8,21.2,-3.6,93,651,0.00,2.83,0.00,0.000,6,0.000,0.030,2471,2109,3887
$GC,842,-0.61,-97.8,26.7,-2.8,108,846,0.00,2.95,0.00,0.000,4,0.000,0.049,2471,690,3888
$GC,906,-0.61,-97.8,29.0,-3.7,112,913,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2105,3888
$GC,1103,-0.61,-97.8,34.7,-3.0,128,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2104,3888
$GC,1294,-0.61,-97.8,40.6,-2.8,143,1298,0.00,2.92,0.00,0.000,4,0.000,0.050,2471,697,3888
$GC,1326,-0.61,-97.8,41.7,-3.1,145,1331,0.00,2.80,0.00,0.000,6,0.000,0.030,2472,2103,3888
$GC,1521,-0.61,-97.8,46.9,-2.6,160,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2103,3888
$GC,1712,-0.61,-97.8,51.8,-2.6,175,1717,0.00,2.92,0.00,0.000,4,0.000,0.050,2471,695,3888
$GC,1758,-0.61,-97.8,53.1,-3.3,178,1763,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2109,3888
$GC,1953,-0.61,-97.8,57.2,-2.0,193,1957,0.00,2.42,0.00,0.000,4,0.000,0.051,2471,3508,3888
$GC,1986,-0.61,-97.8,58.0,-2.8,195,1990,0.00,2.38,0.00,0.000,6,0.000,0.034,2471,2101,3888
$GC,2181,-0.61,-97.8,63.0,-2.6,210,2186,0.00,2.92,0.00,0.000,4,0.000,0.052,2471,690,3888
$GC,2267,-0.61,-97.8,65.8,-3.3,216,2272,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2107,3888
$GC,2462,-0.61,-97.8,71.7,-2.9,231,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2106,3888
$GC,2655,-0.61,-97.8,76.6,-2.4,246,2659,0.00,2.92,0.00,0.000,4,0.000,0.049,2471,693,3888
$GC,2714,-0.61,-97.8,78.4,-3.4,250,2718,0.00,2.80,0.00,0.000,6,0.000,0.030,2471,2101,3888
$GC,2909,-0.61,-97.8,83.2,-2.8,265,2914,0.00,2.92,0.00,0.000,4,0.000,0.050,2471,684,3888
$GC,2968,-0.61,-97.8,85.3,-4.1,269,2973,0.00,2.83,0.00,0.000,6,0.000,0.031,2471,2103,3888
$GC,3163,-0.61,-97.8,89.0,-2.5,284,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2103,3888
$GC,3354,-0.61,-97.8,93.1,-2.4,299,3359,0.00,2.92,0.00,0.000,4,0.000,0.049,2471,691,3887
$STATE,3411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3418,-0.31,0.0,95.1,3.7,303,3498,0.35,0.00,75.53,0.754,6,0.091,0.000,2540,1771,3484
$STATE,3499,end apogee,CONTROL_FINISHED_OK
$STATE,3499,begin climb
$GC,3501,0.61,97.8,96.2,0.0,310,3586,0.93,2.67,73.75,0.732,4,0.069,0.045,2739,3152,3084
$GC,3601,0.76,239.2,92.0,4.5,318,3716,0.17,2.62,106.43,0.713,6,0.047,0.038,2781,1740,2507
$GC,3913,0.77,249.4,70.6,6.9,343,3926,0.00,2.85,7.32,0.739,4,0.000,0.063,2781,339,2466
$GC,4005,0.77,249.4,63.3,8.3,350,4010,0.00,2.65,0.00,0.000,6,0.000,0.028,2781,1747,2466
$GC,4200,0.77,249.4,47.8,7.3,365,4205,0.00,2.85,0.00,0.000,4,0.000,0.063,2781,335,2466
$GC,4238,0.77,249.4,44.9,7.7,367,4246,0.00,2.67,0.00,0.000,6,0.000,0.028,2781,1750,2466
$GC,4435,0.77,249.4,30.2,7.1,383,4439,0.00,2.83,0.00,0.000,4,0.000,0.062,2781,345,2466
$GC,4481,0.77,249.4,26.8,7.5,386,4485,0.00,2.62,0.00,0.000,6,0.000,0.028,2781,1752,2466
$GC,4681,0.80,278.6,13.0,6.5,409,4712,0.00,2.92,21.58,0.696,4,0.000,0.061,2781,343,2347
$GC,4745,0.80,278.6,8.8,7.1,419,4751,0.00,2.65,0.00,0.000,6,0.000,0.028,2781,1754,2347
$STATE,4808,end climb,SURFACE_DEPTH_REACHED
$STATE,4808,begin surface coast
$FINISH,0.8,1.021472
$STATE,4909,end surface coast,CONTROL_FINISHED_OK
$STATE,4909,begin surface
$SM_CCo,4930,36.62,0.674,0,0,2056,350.04
$SM_GC,0.89,0.00,0.00,36.62,0.000,0.000,0.674,366,2106,2056,-10.32,0.17,350.04
$IRIDIUM_FIX,4722.92,-12253.53,290907,070732
$TT8_MAMPS,0.026845
$HUMID,2172
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,24.9
$24V_AH,24.0,19.877
$10V_AH,10.2,7.431
$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,24.150,94.625,284.600,36.625,0.000,37.086,31.190,97.592,1.000,0.000,0.000,13.707,832.990,2870.258,438.248,793.298,327.065,33.338,914.660,0.000,775.288,0.000,5.534
$DEVICE_MAMPS,148.798,62.894,753.961,674.193,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,300.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12702,444
$CFSIZE,260034560,251301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,062056,4740.672,-12250.720,11,1.2,12,18.3