version: 66.02
glider: 23
mission: 2
dive: 253
start: 9 29 107 17 44 8
data:
$ID,23
$MISSION,2
$DIVE,253
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$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,-28584.068
$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,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,36
$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
$GPS1,173826,4742.515,-12250.644,40,1.4,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.3
$GPS2,174244,4742.533,-12250.600,9,1.1,14,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL2N
$TGT_LATLONG,4744.633,-12249.683
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,0.242
$KALMAN_X,13541.9,245.8,-88.7,-10772.1,96.0
$KALMAN_Y,5934.3,4.7,23.6,-867.6,1.3
$MHEAD_RNG_PITCHd_Wd,350.2,4054,-7.5,-6.296
$D_GRID,155
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.58,-97.8,0.0,0.0,0,96,0.00,0.00,-72.85,0.000,2,0.000,0.000,367,2123,3533
$GC,99,-0.58,-97.8,2.2,-3.8,12,131,11.73,3.00,-11.93,0.000,4,0.146,0.058,2478,676,3883
$GC,310,-0.58,-97.8,10.5,-3.8,44,317,0.00,2.85,0.00,0.000,6,0.000,0.030,2478,2105,3886
$GC,383,-0.58,-97.8,12.8,-3.2,55,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2104,3886
$GC,455,-0.58,-97.8,14.9,-2.9,66,461,0.00,2.95,0.00,0.000,4,0.000,0.047,2478,676,3886
$GC,507,-0.58,-97.8,16.5,-3.3,74,513,0.00,2.85,0.00,0.000,6,0.000,0.030,2478,2104,3886
$GC,579,-0.58,-97.8,18.9,-3.0,85,585,0.00,2.42,0.00,0.000,4,0.000,0.050,2479,3504,3887
$GC,623,-0.58,-97.8,20.3,-3.9,91,631,0.00,2.40,0.00,0.000,6,0.000,0.032,2478,2095,3887
$GC,820,-0.58,-97.8,25.8,-2.8,107,825,0.00,2.90,0.00,0.000,4,0.000,0.051,2478,697,3887
$GC,853,-0.58,-97.8,26.7,-2.8,109,857,0.00,2.80,0.00,0.000,6,0.000,0.030,2478,2107,3887
$GC,1048,-0.58,-97.8,32.2,-2.8,124,1053,0.00,2.92,0.00,0.000,4,0.000,0.049,2478,697,3887
$GC,1081,-0.58,-97.8,33.1,-3.0,126,1085,0.00,2.80,0.00,0.000,6,0.000,0.030,2478,2104,3887
$GC,1276,-0.58,-97.8,38.7,-3.0,141,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2103,3887
$GC,1467,-0.58,-97.8,44.1,-2.8,156,1471,0.00,2.92,0.00,0.000,4,0.000,0.050,2478,694,3887
$GC,1505,-0.58,-97.8,45.4,-3.4,158,1512,0.00,2.80,0.00,0.000,6,0.000,0.030,2478,2102,3887
$GC,1701,-0.58,-97.8,51.3,-3.2,174,1706,0.00,2.92,0.00,0.000,4,0.000,0.050,2479,693,3887
$GC,1740,-0.58,-97.8,52.5,-3.3,176,1746,0.00,2.80,0.00,0.000,6,0.000,0.031,2478,2102,3887
$GC,1935,-0.58,-97.8,58.4,-3.1,192,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2101,3887
$GC,2126,-0.58,-97.8,63.8,-2.7,207,2131,0.00,2.92,0.00,0.000,4,0.000,0.049,2479,688,3887
$GC,2191,-0.58,-97.8,66.0,-3.4,211,2198,0.00,2.83,0.00,0.000,6,0.000,0.031,2478,2109,3888
$GC,2387,-0.58,-97.8,71.1,-2.3,227,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2108,3887
$GC,2578,-0.58,-97.8,75.9,-2.5,242,2583,0.00,2.92,0.00,0.000,4,0.000,0.050,2478,698,3888
$GC,2637,-0.58,-97.8,77.5,-2.6,246,2642,0.00,2.80,0.00,0.000,6,0.000,0.030,2478,2106,3888
$GC,2833,-0.58,-97.8,82.4,-2.6,261,2838,0.00,2.92,0.00,0.000,4,0.000,0.050,2479,693,3887
$GC,2865,-0.58,-97.8,83.4,-2.8,263,2870,0.00,2.80,0.00,0.000,6,0.000,0.031,2478,2103,3887
$STATE,2932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2932,begin apogee
$GC,2939,-0.31,0.0,85.2,2.6,268,3019,0.30,0.00,75.80,0.739,6,0.082,0.000,2539,1663,3483
$STATE,3020,end apogee,CONTROL_FINISHED_OK
$STATE,3020,begin climb
$GC,3023,0.58,97.8,85.7,0.0,275,3105,0.95,2.67,74.05,0.718,4,0.072,0.044,2736,3067,3083
$GC,3132,0.62,141.5,80.8,5.5,284,3172,0.00,2.65,32.53,0.716,6,0.000,0.038,2736,1658,2906
$GC,3370,0.66,172.8,67.7,5.7,303,3398,0.00,2.67,23.25,0.713,4,0.000,0.043,2736,3057,2778
$GC,3531,0.66,177.0,57.8,6.2,315,3539,0.00,2.67,2.78,0.774,6,0.000,0.039,2736,1651,2761
$GC,3728,0.67,184.0,45.8,6.2,331,3740,0.00,2.70,5.28,0.746,4,0.000,0.043,2736,3066,2733
$GC,3834,0.67,184.0,39.2,6.4,339,3839,0.00,2.65,0.00,0.000,6,0.000,0.040,2736,1651,2732
$GC,4030,0.68,190.8,27.2,6.2,354,4042,0.00,2.80,4.80,0.743,4,0.000,0.061,2736,221,2704
$GC,4293,0.70,207.9,10.8,6.0,385,4313,0.12,2.58,12.73,0.708,6,0.073,0.028,2761,1650,2635
$GC,4379,0.73,242.6,5.8,5.6,398,4398,0.00,0.00,17.15,0.692,2,0.000,0.000,2761,1650,2540
$STATE,4399,end climb,SURFACE_DEPTH_REACHED
$STATE,4399,begin surface coast
$FINISH,0.1,0.999959
$STATE,4490,end surface coast,CONTROL_FINISHED_OK
$STATE,4490,begin surface
$SM_CCo,4511,58.22,0.669,1,0,2056,350.04
$SM_GC,0.84,0.00,0.00,58.22,0.000,0.000,0.669,364,2114,2056,-10.33,0.42,350.04
$IRIDIUM_FIX,4722.92,-12249.11,290907,202004
$TT8_MAMPS,0.026078
$HUMID,2154
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,24.0,20.599
$10V_AH,10.2,7.706
$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,23.950,79.800,248.350,58.225,0.000,39.497,34.075,94.566,1.000,0.000,0.000,15.845,786.183,2588.850,439.484,735.276,327.010,33.338,872.205,0.000,718.813,0.000,5.545
$DEVICE_MAMPS,145.730,61.360,773.903,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,280.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12720,415
$CFSIZE,260034560,250978304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,190115,4742.707,-12250.467,8,1.5,9,18.3