version: 66.02
glider: 23
mission: 2
dive: 255
start: 9 29 107 20 30 55
data:
$ID,23
$MISSION,2
$DIVE,255
$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,-28569.512
$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,8
$R_STBD_OVSHOOT,35
$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
$GPS1,202508,4743.052,-12250.314,28,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.2
$GPS2,202932,4743.088,-12250.275,11,1.2,16,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL2N
$TGT_LATLONG,4744.633,-12249.683
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,0.242
$KALMAN_X,13630.1,229.3,85.5,-10611.1,44.7
$KALMAN_Y,5767.4,7.6,-56.0,403.8,-70.8
$MHEAD_RNG_PITCHd_Wd,350.9,2955,-7.5,-6.296
$D_GRID,165
$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,-73.43,0.000,2,0.000,0.000,367,2124,3517
$GC,100,-0.58,-97.8,2.1,-3.1,12,132,11.82,3.03,-12.65,0.000,4,0.149,0.059,2481,668,3882
$GC,384,-0.58,-97.8,13.5,-3.7,55,390,0.00,2.85,0.00,0.000,6,0.000,0.031,2481,2095,3885
$GC,456,-0.58,-97.8,15.5,-2.7,66,462,0.00,2.45,0.00,0.000,4,0.000,0.051,2481,3503,3885
$GC,483,-0.58,-97.8,16.3,-2.9,70,489,0.00,2.42,0.00,0.000,6,0.000,0.033,2481,2070,3886
$GC,555,-0.58,-97.8,18.5,-2.9,81,562,0.00,2.88,0.00,0.000,4,0.000,0.051,2481,691,3886
$GC,601,-0.58,-97.8,19.9,-3.1,88,607,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2103,3886
$GC,671,-0.58,-97.8,21.9,-2.8,94,675,0.00,2.45,0.00,0.000,4,0.000,0.051,2480,3513,3886
$GC,703,-0.58,-97.8,23.0,-3.6,96,707,0.00,2.40,0.00,0.000,6,0.000,0.033,2481,2089,3886
$GC,898,-0.58,-97.8,28.3,-2.6,111,903,0.00,2.90,0.00,0.000,4,0.000,0.052,2481,696,3886
$GC,937,-0.58,-97.8,29.4,-2.8,113,944,0.00,2.83,0.00,0.000,6,0.000,0.031,2480,2108,3886
$GC,1133,-0.58,-97.8,34.7,-2.8,129,1138,0.00,2.95,0.00,0.000,4,0.000,0.051,2481,690,3886
$GC,1166,-0.58,-97.8,35.5,-2.7,131,1170,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2100,3886
$GC,1361,-0.58,-97.8,41.0,-2.6,146,1366,0.00,2.92,0.00,0.000,4,0.000,0.051,2481,696,3886
$GC,1394,-0.58,-97.8,41.9,-3.0,148,1398,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2111,3886
$GC,1589,-0.58,-97.8,47.3,-2.9,163,1594,0.00,2.95,0.00,0.000,4,0.000,0.051,2481,693,3886
$GC,1622,-0.58,-97.8,48.2,-2.9,165,1626,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2105,3886
$GC,1817,-0.58,-97.8,53.6,-2.7,180,1822,0.00,2.95,0.00,0.000,4,0.000,0.051,2480,689,3886
$GC,1855,-0.58,-97.8,54.7,-3.1,182,1862,0.00,2.85,0.00,0.000,6,0.000,0.031,2481,2115,3886
$GC,2054,-0.58,-97.8,60.3,-3.1,198,2058,0.00,2.95,0.00,0.000,4,0.000,0.050,2481,693,3886
$GC,2086,-0.58,-97.8,61.4,-3.2,200,2091,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2117,3886
$GC,2282,-0.58,-97.8,67.1,-2.7,215,2286,0.00,2.97,0.00,0.000,4,0.000,0.051,2481,684,3886
$GC,2314,-0.58,-97.8,68.1,-3.0,217,2319,0.00,2.85,0.00,0.000,6,0.000,0.031,2481,2113,3886
$GC,2509,-0.58,-97.8,73.9,-2.9,232,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2111,3886
$GC,2702,-0.58,-97.8,79.2,-2.8,247,2706,0.00,2.95,0.00,0.000,4,0.000,0.050,2481,691,3886
$GC,2753,-0.58,-97.8,80.8,-3.1,250,2760,0.00,2.83,0.00,0.000,6,0.000,0.031,2481,2104,3886
$STATE,2923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2923,begin apogee
$GC,2930,-0.31,0.0,85.3,2.5,264,3009,0.30,0.00,75.45,0.739,6,0.088,0.000,2540,1657,3484
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3010,begin climb
$GC,3012,0.58,97.8,85.9,0.0,271,3094,0.93,2.67,73.97,0.719,4,0.071,0.044,2732,3057,3084
$GC,3126,0.65,161.8,80.9,5.1,280,3182,0.00,2.67,47.90,0.709,6,0.000,0.039,2732,1652,2823
$GC,3371,0.69,197.9,67.4,5.6,300,3408,0.12,2.75,26.70,0.712,4,0.068,0.044,2760,3062,2676
$GC,3526,0.69,197.9,57.5,6.6,312,3531,0.00,2.65,0.00,0.000,6,0.000,0.042,2760,1650,2675
$GC,3722,0.71,224.3,46.0,5.8,327,3747,0.00,2.92,19.60,0.709,4,0.000,0.064,2760,225,2569
$GC,3779,0.71,224.3,42.2,6.7,331,3786,0.00,2.62,0.00,0.000,6,0.000,0.028,2760,1645,2568
$GC,3975,0.75,258.7,30.9,5.6,347,4006,0.00,2.70,25.42,0.696,4,0.000,0.042,2760,3058,2429
$GC,4032,0.77,273.0,27.5,6.0,351,4048,0.00,2.67,10.85,0.704,6,0.000,0.042,2760,1648,2369
$GC,4243,0.84,337.4,15.8,5.1,373,4299,0.15,2.88,47.72,0.669,4,0.066,0.066,2793,221,2107
$GC,4332,0.84,337.4,9.7,7.6,387,4338,0.00,2.62,0.00,0.000,6,0.000,0.028,2794,1648,2107
$GC,4404,0.86,355.4,5.1,6.0,398,4411,0.00,0.00,5.15,0.714,2,0.000,0.000,2793,1649,2078
$STATE,4412,end climb,SURFACE_DEPTH_REACHED
$STATE,4412,begin surface coast
$FINISH,0.2,1.012644
$STATE,4517,end surface coast,CONTROL_FINISHED_OK
$STATE,4518,begin surface
$SM_CCo,4539,2.97,0.769,0,0,2057,350.04
$SM_GC,1.64,0.00,0.00,2.97,0.000,0.000,0.769,365,2118,2057,-10.33,0.51,350.04
$IRIDIUM_FIX,4729.30,-12248.15,290907,232357
$TT8_MAMPS,0.026845
$HUMID,2166
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.9,20.752
$10V_AH,10.2,7.766
$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,24.325,96.550,332.775,2.975,0.000,39.401,32.337,97.040,1.250,0.000,0.000,17.768,779.855,2545.093,454.582,738.434,331.418,33.340,910.421,0.000,719.083,0.000,5.545
$DEVICE_MAMPS,148.798,65.962,738.621,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,279.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12725,415
$CFSIZE,260034560,250900480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,214750,4743.436,-12250.080,10,1.4,29,18.3