version: 66.02
glider: 23
mission: 2
dive: 248
start: 9 29 107 10 49 12
data:
$ID,23
$MISSION,2
$DIVE,248
$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,-28631.303
$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,28
$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
$GPS1,104223,4741.701,-12250.843,9,5.3,29,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.3
$GPS2,104750,4741.708,-12250.844,29,1.7,29,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.258
$KALMAN_X,12995.6,25.9,259.1,-10655.0,-131.1
$KALMAN_Y,5806.3,-47.1,7.5,-2198.8,40.7
$MHEAD_RNG_PITCHd_Wd,0.5,1543,-8.0,-7.037
$D_GRID,120
$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,21,-0.61,-97.8,0.0,0.0,0,96,0.00,0.00,-72.65,0.000,2,0.000,0.000,370,2095,3493
$GC,99,-0.61,-97.8,2.2,-3.6,12,131,11.80,2.95,-12.77,0.000,4,0.151,0.058,2470,676,3884
$GC,165,-0.61,-97.8,5.3,-4.3,22,171,0.00,2.85,0.00,0.000,6,0.000,0.030,2472,2108,3885
$GC,237,-0.61,-97.8,7.7,-3.2,33,244,0.00,2.95,0.00,0.000,4,0.000,0.047,2472,679,3885
$GC,316,-0.61,-97.8,11.1,-5.3,45,323,0.00,2.85,0.00,0.000,6,0.000,0.029,2472,2111,3886
$GC,389,-0.61,-97.8,14.2,-3.9,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2111,3886
$GC,461,-0.61,-97.8,16.9,-3.9,67,467,0.00,2.42,0.00,0.000,4,0.000,0.050,2472,3508,3886
$GC,493,-0.61,-97.8,18.1,-3.5,72,499,0.00,2.40,0.00,0.000,6,0.000,0.032,2472,2087,3886
$GC,572,-0.61,-97.8,20.5,-2.9,83,576,0.00,2.90,0.00,0.000,4,0.000,0.051,2472,689,3886
$GC,617,-0.61,-97.8,22.0,-3.4,86,622,0.00,2.83,0.00,0.000,6,0.000,0.030,2472,2101,3886
$GC,813,-0.61,-97.8,27.2,-2.8,101,818,0.00,2.92,0.00,0.000,4,0.000,0.048,2472,691,3887
$GC,956,-0.61,-97.8,31.3,-2.4,111,964,0.00,2.85,0.00,0.000,6,0.000,0.030,2472,2104,3887
$GC,1153,-0.61,-97.8,37.3,-2.7,127,1157,0.00,2.42,0.00,0.000,4,0.000,0.052,2472,3500,3887
$GC,1218,-0.61,-97.8,39.4,-3.0,131,1225,0.00,2.38,0.00,0.000,6,0.000,0.032,2472,2104,3886
$GC,1414,-0.61,-97.8,44.4,-2.7,147,1419,0.00,2.92,0.00,0.000,4,0.000,0.052,2472,691,3887
$GC,1460,-0.61,-97.8,45.7,-3.1,150,1464,0.00,2.80,0.00,0.000,6,0.000,0.031,2472,2106,3887
$GC,1655,-0.61,-97.8,51.8,-3.3,165,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2104,3887
$GC,1846,-0.61,-97.8,58.7,-3.6,180,1851,0.00,2.92,0.00,0.000,4,0.000,0.050,2472,692,3887
$GC,1884,-0.61,-97.8,60.3,-4.3,182,1891,0.00,2.80,0.00,0.000,6,0.000,0.031,2472,2100,3887
$GC,2080,-0.61,-97.8,67.4,-3.4,198,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2099,3887
$GC,2271,-0.61,-97.8,73.5,-3.1,213,2276,0.00,2.92,0.00,0.000,4,0.000,0.050,2472,685,3887
$GC,2330,-0.61,-97.8,75.3,-3.0,217,2335,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2106,3887
$GC,2526,-0.61,-97.8,80.7,-2.5,232,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2105,3887
$GC,2718,-0.61,-97.8,86.1,-2.7,247,2722,0.00,2.92,0.00,0.000,4,0.000,0.049,2472,690,3887
$GC,2757,-0.61,-97.8,87.5,-3.8,249,2763,0.00,2.80,0.00,0.000,6,0.000,0.031,2472,2101,3887
$GC,2952,-0.61,-97.8,93.3,-2.9,265,2957,0.00,2.90,0.00,0.000,4,0.000,0.049,2472,693,3887
$GC,2972,-0.61,-97.8,93.8,-3.1,266,2977,0.00,2.80,0.00,0.000,6,0.000,0.030,2472,2102,3887
$STATE,3013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3013,begin apogee
$GC,3020,-0.31,0.0,95.1,3.0,269,3100,0.35,0.00,74.62,0.772,6,0.087,0.000,2542,1737,3484
$STATE,3101,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3104,0.61,97.8,96.0,0.0,276,3189,0.93,2.88,73.68,0.732,4,0.068,0.056,2740,346,3085
$GC,3203,0.73,210.9,91.8,5.0,284,3295,0.15,2.67,85.47,0.711,6,0.063,0.028,2774,1763,2624
$GC,3484,0.75,229.0,73.4,6.7,306,3502,0.00,2.88,13.10,0.724,4,0.000,0.060,2774,357,2549
$GC,3528,0.75,230.0,70.3,7.0,309,3533,0.00,2.65,0.00,0.000,6,0.000,0.029,2774,1759,2549
$GC,3723,0.77,252.3,57.0,6.6,324,3748,0.00,2.90,17.35,0.713,4,0.000,0.061,2774,351,2455
$GC,3787,0.77,252.3,52.4,7.6,329,3792,0.00,2.65,0.00,0.000,6,0.000,0.029,2774,1755,2454
$GC,3983,0.78,258.1,38.9,6.9,344,3996,0.00,2.88,4.10,0.752,4,0.000,0.060,2774,357,2430
$GC,4027,0.78,258.1,35.5,7.9,347,4035,0.00,2.65,0.00,0.000,6,0.000,0.028,2774,1758,2430
$GC,4224,0.83,300.6,22.3,6.3,363,4261,0.00,2.95,31.70,0.686,4,0.000,0.060,2774,342,2257
$GC,4309,0.83,304.8,16.5,7.0,373,4321,0.00,2.65,2.62,0.751,6,0.000,0.029,2774,1752,2242
$GC,4388,0.93,391.5,11.9,5.5,385,4462,0.15,2.90,65.30,0.661,4,0.061,0.063,2812,350,1886
$STATE,4488,end climb,SURFACE_DEPTH_REACHED
$STATE,4488,begin surface coast
$FINISH,4.3,1.021983
$STATE,4495,end surface coast,CONTROL_FINISHED_OK
$STATE,4495,begin surface
$SM_CCo,4579,0.00,0.000,0,0,1884,392.48
$SM_GC,1.06,11.25,0.00,0.00,0.044,0.000,0.000,365,2093,1884,-10.28,-0.20,392.48
$IRIDIUM_FIX,4722.92,-12253.53,290907,131306
$TT8_MAMPS,0.025311
$HUMID,2158
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,20.217
$10V_AH,10.2,7.556
$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,24.625,96.175,367.950,0.000,0.000,37.185,40.074,141.187,1.250,0.000,0.000,31.301,750.104,2590.384,485.699,741.242,377.372,33.339,945.011,0.000,707.341,0.000,7.065
$DEVICE_MAMPS,151.099,62.894,772.369,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,269.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12716,402
$CFSIZE,260034560,251158528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,120638,4742.157,-12250.713,25,1.6,26,18.3