version: 66.02
glider: 23
mission: 2
dive: 254
start: 9 29 107 19 7 25
data:
$ID,23
$MISSION,2
$DIVE,254
$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,-28584.535
$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,9
$R_STBD_OVSHOOT,31
$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
$GPS1,190115,4742.707,-12250.467,8,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-61.1
$GPS2,190602,4742.749,-12250.411,14,1.0,31,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL2N
$TGT_LATLONG,4744.633,-12249.683
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.244
$KALMAN_X,13600.7,239.6,-9.5,-10667.3,105.1
$KALMAN_Y,5788.3,-7.5,-23.4,-257.5,-48.6
$MHEAD_RNG_PITCHd_Wd,346.4,3605,-7.5,-6.296
$D_GRID,161
$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,-0.58,-97.8,0.0,0.0,0,97,0.00,0.00,-73.32,0.000,2,0.000,0.000,363,2111,3535
$GC,100,-0.58,-97.8,2.0,-3.5,12,132,11.80,3.00,-12.38,0.000,4,0.147,0.058,2481,668,3883
$GC,323,-0.58,-97.8,10.6,-4.0,46,330,0.00,2.88,0.00,0.000,6,0.000,0.030,2481,2112,3886
$GC,396,-0.58,-97.8,12.7,-3.3,57,402,0.00,2.97,0.00,0.000,4,0.000,0.048,2481,674,3885
$GC,442,-0.58,-97.8,14.1,-3.3,64,448,0.00,2.85,0.00,0.000,6,0.000,0.029,2481,2105,3886
$GC,514,-0.58,-97.8,16.5,-3.3,75,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2105,3886
$GC,586,-0.58,-97.8,18.7,-3.0,86,593,0.00,2.42,0.00,0.000,4,0.000,0.051,2480,3503,3887
$GC,619,-0.58,-97.8,19.7,-3.2,91,625,0.00,2.40,0.00,0.000,6,0.000,0.032,2481,2078,3886
$GC,695,-0.58,-97.8,22.0,-2.9,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2078,3886
$GC,885,-0.58,-97.8,27.2,-2.6,113,890,0.00,2.88,0.00,0.000,4,0.000,0.051,2481,695,3887
$GC,931,-0.58,-97.8,28.7,-3.2,116,936,0.00,2.83,0.00,0.000,6,0.000,0.030,2481,2111,3887
$GC,1127,-0.58,-97.8,33.9,-2.5,131,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2110,3887
$GC,1318,-0.58,-97.8,38.9,-2.7,146,1322,0.00,2.95,0.00,0.000,4,0.000,0.050,2481,690,3887
$GC,1350,-0.58,-97.8,39.9,-3.0,148,1355,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2108,3887
$GC,1545,-0.58,-97.8,45.3,-2.8,163,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2107,3887
$GC,1736,-0.58,-97.8,50.5,-2.7,178,1741,0.00,2.92,0.00,0.000,4,0.000,0.050,2481,696,3887
$GC,1795,-0.58,-97.8,52.4,-3.3,182,1800,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2115,3887
$GC,1991,-0.58,-97.8,58.1,-3.1,197,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2114,3887
$GC,2182,-0.58,-97.8,63.2,-2.6,212,2186,0.00,2.95,0.00,0.000,4,0.000,0.049,2481,691,3886
$GC,2246,-0.58,-97.8,65.4,-3.1,216,2253,0.00,2.85,0.00,0.000,6,0.000,0.030,2481,2122,3887
$GC,2443,-0.58,-97.8,71.0,-3.0,232,2447,0.00,2.95,0.00,0.000,4,0.000,0.050,2481,697,3887
$GC,2481,-0.58,-97.8,72.1,-3.1,234,2488,0.00,2.83,0.00,0.000,6,0.000,0.030,2481,2117,3886
$GC,2677,-0.58,-97.8,77.5,-2.8,250,2682,0.00,2.95,0.00,0.000,4,0.000,0.049,2481,691,3887
$GC,2709,-0.58,-97.8,78.5,-3.1,252,2714,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2107,3887
$GC,2904,-0.58,-97.8,83.5,-2.6,267,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2106,3887
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2965,begin apogee
$GC,2971,-0.31,0.0,85.2,2.7,272,3052,0.30,0.00,75.38,0.741,6,0.083,0.000,2541,1658,3484
$STATE,3053,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3056,0.58,97.8,85.8,0.0,279,3141,0.90,2.72,73.57,0.718,4,0.072,0.043,2732,3057,3084
$GC,3185,0.62,140.4,80.0,5.5,289,3222,0.00,2.65,31.65,0.716,6,0.000,0.038,2732,1655,2911
$GC,3412,0.69,197.5,67.8,5.2,307,3462,0.12,2.67,43.00,0.706,4,0.067,0.043,2760,3061,2676
$GC,3586,0.69,197.5,57.1,6.3,320,3594,0.00,2.67,0.00,0.000,6,0.000,0.042,2761,1655,2675
$GC,3783,0.70,208.3,45.2,6.1,336,3797,0.00,2.92,7.80,0.729,4,0.000,0.065,2761,227,2634
$GC,3828,0.70,208.3,42.1,6.6,339,3835,0.00,2.62,0.00,0.000,6,0.000,0.028,2761,1645,2634
$GC,4025,0.71,220.0,30.2,6.1,355,4038,0.00,2.75,8.18,0.723,4,0.000,0.041,2761,3070,2587
$GC,4064,0.71,220.0,27.7,6.3,358,4069,0.00,2.67,0.00,0.000,6,0.000,0.041,2761,1648,2586
$GC,4263,0.75,252.8,16.5,5.7,377,4294,0.00,2.85,24.45,0.689,4,0.000,0.064,2761,225,2451
$GC,4313,0.76,269.5,13.6,6.0,385,4332,0.00,2.62,12.25,0.696,6,0.000,0.028,2760,1651,2385
$GC,4398,0.81,312.7,8.8,5.5,398,4436,0.12,2.78,31.58,0.678,4,0.071,0.043,2787,3079,2208
$GC,4464,0.85,345.5,5.1,5.7,408,4471,0.00,2.70,2.47,0.745,2,0.000,0.042,2788,1649,2195
$STATE,4472,end climb,SURFACE_DEPTH_REACHED
$STATE,4472,begin surface coast
$FINISH,0.3,1.021771
$STATE,4545,end surface coast,CONTROL_FINISHED_OK
$STATE,4545,begin surface
$SM_CCo,4566,19.05,0.694,1,0,2056,350.04
$SM_GC,1.33,0.00,0.00,19.05,0.000,0.000,0.694,367,2123,2056,-10.32,0.65,350.04
$IRIDIUM_FIX,4726.11,-12246.42,290907,212107
$TT8_MAMPS,0.026845
$HUMID,2162
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.6,20.675
$10V_AH,10.2,7.736
$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,24.150,85.650,310.325,19.050,0.000,40.433,35.060,104.457,1.000,0.000,0.000,33.181,778.254,2597.659,449.622,752.086,342.532,33.340,900.015,0.000,716.131,0.000,5.546
$DEVICE_MAMPS,147.264,65.195,744.757,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,282.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12697,420
$CFSIZE,260034560,250937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,202508,4743.052,-12250.314,28,1.2,29,18.3