version: 66.02
glider: 23
mission: 2
dive: 251
start: 9 29 107 14 56 43
data:
$ID,23
$MISSION,2
$DIVE,251
$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,-28600.355
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,145101,4742.593,-12250.895,38,1.2,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-64.7
$GPS2,145520,4742.608,-12250.886,12,1.2,12,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL1N
$TGT_LATLONG,4742.533,-12250.667
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,-0.133
$KALMAN_X,13350.3,171.4,-137.6,-10814.2,44.5
$KALMAN_Y,5878.1,-22.1,77.3,-699.7,-2.0
$MHEAD_RNG_PITCHd_Wd,102.2,306,-8.6,-7.037
$D_GRID,147
$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,-0.65,-97.8,0.0,0.0,0,98,0.00,0.00,-73.55,0.000,2,0.000,0.000,367,2106,3545
$GC,101,-0.65,-97.8,2.2,-3.7,12,132,11.77,2.47,-10.25,0.000,4,0.152,0.062,2462,3502,3885
$GC,237,-0.65,-97.8,10.0,-5.0,33,244,0.00,2.38,0.00,0.000,6,0.000,0.033,2462,2094,3887
$GC,310,-0.65,-97.8,12.9,-3.5,44,316,0.00,2.45,0.00,0.000,4,0.000,0.048,2462,3505,3887
$GC,396,-0.65,-97.8,15.7,-3.4,57,403,0.00,2.38,0.00,0.000,6,0.000,0.033,2462,2092,3887
$GC,469,-0.65,-97.8,18.2,-3.3,68,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2092,3887
$GC,540,-0.65,-97.8,20.3,-3.0,78,544,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,686,3888
$GC,586,-0.65,-97.8,21.8,-3.6,81,590,0.00,2.83,0.00,0.000,6,0.000,0.030,2462,2106,3887
$GC,781,-0.65,-97.8,28.0,-2.8,96,786,0.00,2.92,0.00,0.000,4,0.000,0.048,2462,684,3888
$GC,819,-0.65,-97.8,29.3,-3.4,98,827,0.00,2.85,0.00,0.000,6,0.000,0.030,2462,2099,3888
$GC,1015,-0.65,-97.8,34.8,-2.7,114,1020,0.00,2.42,0.00,0.000,4,0.000,0.051,2462,3501,3888
$GC,1055,-0.65,-97.8,36.1,-3.6,116,1061,0.00,2.35,0.00,0.000,6,0.000,0.033,2462,2100,3889
$GC,1250,-0.65,-97.8,42.2,-3.1,132,1255,0.00,2.90,0.00,0.000,4,0.000,0.052,2462,691,3888
$GC,1296,-0.65,-97.8,43.8,-3.4,135,1301,0.00,2.83,0.00,0.000,6,0.000,0.031,2462,2114,3888
$GC,1491,-0.65,-97.8,49.7,-2.9,150,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2113,3888
$GC,1682,-0.65,-97.8,55.2,-2.9,165,1687,0.00,2.95,0.00,0.000,4,0.000,0.049,2462,687,3889
$GC,1733,-0.65,-97.8,56.9,-3.2,168,1740,0.00,2.83,0.00,0.000,6,0.000,0.030,2462,2111,3888
$GC,1929,-0.65,-97.8,62.4,-2.6,184,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2111,3888
$GC,2120,-0.65,-97.8,68.3,-3.4,199,2125,0.00,2.92,0.00,0.000,4,0.000,0.049,2462,695,3888
$GC,2166,-0.65,-97.8,69.8,-3.3,202,2170,0.00,2.80,0.00,0.000,6,0.000,0.031,2462,2107,3888
$GC,2368,-0.65,-97.8,76.2,-3.1,218,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2106,3888
$GC,2557,-0.65,-97.8,82.1,-3.0,233,2561,0.00,2.92,0.00,0.000,4,0.000,0.050,2461,693,3888
$GC,2603,-0.65,-97.8,83.7,-3.4,236,2608,0.00,2.83,0.00,0.000,6,0.000,0.031,2462,2114,3888
$GC,2798,-0.65,-97.8,89.8,-3.2,251,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2113,3889
$STATE,2975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2975,begin apogee
$GC,2981,-0.31,0.0,95.1,3.1,265,3060,0.35,0.00,76.07,0.748,6,0.091,0.000,2535,1735,3483
$STATE,3061,end apogee,CONTROL_FINISHED_OK
$STATE,3061,begin climb
$GC,3063,0.65,97.8,95.9,0.0,272,3148,1.00,2.75,73.85,0.726,4,0.072,0.045,2746,3158,3083
$GC,3163,0.75,188.9,91.6,5.2,280,3239,0.12,2.60,68.30,0.714,6,0.054,0.038,2778,1754,2714
$GC,3437,0.75,196.5,73.2,6.9,302,3449,0.00,2.88,5.53,0.753,4,0.000,0.062,2778,333,2681
$GC,3507,0.75,196.5,67.6,7.5,307,3515,0.00,2.70,0.00,0.000,6,0.000,0.028,2777,1761,2681
$GC,3704,0.76,199.0,53.9,7.0,323,3711,0.00,2.88,1.58,0.815,4,0.000,0.061,2778,331,2671
$GC,3737,0.76,199.0,51.4,7.7,325,3741,0.00,2.67,0.00,0.000,6,0.000,0.029,2777,1758,2671
$GC,3932,0.77,211.2,37.5,6.8,340,3948,0.00,2.90,9.25,0.726,4,0.000,0.060,2778,347,2623
$GC,3975,0.77,211.2,34.3,7.6,343,3983,0.00,2.67,0.00,0.000,6,0.000,0.028,2777,1751,2622
$GC,4172,0.83,261.1,21.7,6.1,359,4216,0.00,2.90,37.03,0.686,4,0.000,0.061,2777,333,2417
$GC,4242,0.85,285.1,17.2,6.6,367,4267,0.00,2.67,17.75,0.687,6,0.000,0.029,2778,1760,2321
$GC,4333,0.93,353.4,11.5,5.7,381,4394,0.17,2.97,50.65,0.665,4,0.058,0.062,2819,338,2042
$STATE,4418,end climb,SURFACE_DEPTH_REACHED
$STATE,4418,begin surface coast
$FINISH,0.2,1.010423
$STATE,4492,end surface coast,CONTROL_FINISHED_OK
$STATE,4492,begin surface
$SM_CCo,4578,0.00,0.000,0,0,2039,354.46
$SM_GC,0.94,11.10,0.00,0.00,0.038,0.000,0.000,366,2099,2039,-10.27,0.00,354.46
$IRIDIUM_FIX,4726.11,-12249.11,290907,171700
$TT8_MAMPS,0.026845
$HUMID,2165
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,23.6,20.449
$10V_AH,10.2,7.645
$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,24.525,83.750,340.000,0.000,0.000,35.944,37.217,96.674,1.500,0.000,0.000,13.936,747.403,2642.420,455.058,703.763,328.200,33.336,894.014,0.000,690.239,0.000,7.074
$DEVICE_MAMPS,151.866,62.127,815.321,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,272.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12724,406
$CFSIZE,260034560,251056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,161351,4742.425,-12250.356,9,1.9,10,18.3