version: 66.02
glider: 23
mission: 2
dive: 256
start: 9 29 107 21 54 0
data:
$ID,23
$MISSION,2
$DIVE,256
$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,90
$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,-28567.543
$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,2000
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,40
$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
$GPS1,214750,4743.436,-12250.080,10,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.5
$GPS2,215237,4743.479,-12250.047,29,1.1,29,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL2N
$TGT_LATLONG,4744.633,-12249.683
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.238
$KALMAN_X,13723.2,216.8,159.2,-10482.9,-23.1
$KALMAN_Y,5838.3,9.9,-83.2,1080.7,-2.9
$MHEAD_RNG_PITCHd_Wd,355.7,2184,-7.5,-6.296
$D_GRID,169
$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,-0.57,-88.0,0.0,0.0,0,103,0.00,0.00,-79.22,0.000,2,0.000,0.000,365,2120,3641
$GC,106,-0.57,-88.0,2.3,-4.0,13,132,11.85,2.25,-6.10,0.000,4,0.150,0.062,2479,3404,3844
$GC,383,-0.57,-88.0,13.5,-2.9,55,390,0.00,2.42,0.00,0.000,6,0.000,0.033,2480,1981,3845
$GC,455,-0.57,-88.0,15.6,-2.8,66,462,0.00,2.50,0.00,0.000,4,0.000,0.048,2480,3409,3846
$GC,600,-0.57,-88.0,20.1,-3.1,88,605,0.00,2.42,0.00,0.000,6,0.000,0.034,2480,1985,3846
$GC,796,-0.57,-88.0,25.3,-3.1,103,800,0.00,2.90,0.00,0.000,4,0.000,0.053,2480,574,3846
$GC,908,-0.57,-88.0,28.7,-3.1,111,913,0.00,2.78,0.00,0.000,6,0.000,0.030,2480,1980,3846
$GC,1104,-0.57,-88.0,34.1,-2.8,126,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1980,3846
$GC,1294,-0.57,-88.0,39.0,-2.6,141,1299,0.00,2.90,0.00,0.000,4,0.000,0.051,2480,573,3846
$GC,1319,-0.57,-88.0,39.7,-2.7,142,1326,0.00,2.83,0.00,0.000,6,0.000,0.029,2480,2002,3847
$GC,1515,-0.57,-88.0,45.1,-2.7,158,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2002,3847
$GC,1708,-0.57,-88.0,50.2,-2.6,173,1713,0.00,2.95,0.00,0.000,4,0.000,0.051,2480,576,3847
$GC,1754,-0.57,-88.0,51.7,-2.9,176,1759,0.00,2.83,0.00,0.000,6,0.000,0.030,2479,2001,3847
$GC,1950,-0.57,-88.0,56.4,-2.4,191,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2001,3847
$GC,2140,-0.57,-88.0,61.0,-2.4,206,2145,0.00,2.95,0.00,0.000,4,0.000,0.051,2479,578,3847
$GC,2186,-0.57,-88.0,62.3,-3.3,209,2191,0.00,2.83,0.00,0.000,6,0.000,0.030,2480,1998,3847
$GC,2382,-0.57,-88.0,66.9,-2.4,224,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1999,3847
$GC,2571,-0.57,-88.0,71.7,-2.5,239,2576,0.00,2.95,0.00,0.000,4,0.000,0.051,2480,571,3847
$GC,2596,-0.57,-88.0,72.4,-2.4,240,2603,0.00,2.85,0.00,0.000,6,0.000,0.030,2480,2009,3847
$GC,2792,-0.57,-88.0,77.1,-2.5,256,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2008,3847
$GC,2984,-0.57,-88.0,81.4,-2.2,271,2989,0.00,2.95,0.00,0.000,4,0.000,0.051,2480,585,3847
$GC,3044,-0.57,-88.0,82.9,-2.7,275,3048,0.00,2.80,0.00,0.000,6,0.000,0.030,2480,1994,3847
$STATE,3148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3148,begin apogee
$GC,3155,-0.31,0.0,85.2,2.3,283,3226,0.30,0.00,68.15,0.742,6,0.086,0.000,2539,1540,3483
$STATE,3227,end apogee,CONTROL_FINISHED_OK
$STATE,3227,begin climb
$GC,3229,0.57,88.0,85.4,0.0,289,3303,0.90,2.80,66.45,0.720,4,0.072,0.042,2730,2977,3123
$GC,3343,0.64,158.1,80.1,5.0,298,3404,0.00,2.75,52.47,0.709,6,0.000,0.039,2729,1549,2837
$GC,3593,0.68,191.5,66.2,5.7,318,3623,0.12,2.65,24.90,0.713,4,0.065,0.061,2758,204,2703
$GC,3668,0.68,191.5,61.3,6.8,323,3676,0.00,2.53,0.00,0.000,6,0.000,0.028,2758,1578,2702
$GC,3865,0.68,191.5,48.9,6.4,339,3869,0.00,2.67,0.00,0.000,4,0.000,0.058,2758,203,2702
$GC,3942,0.68,191.5,43.6,6.7,344,3950,0.00,2.45,0.00,0.000,6,0.000,0.028,2758,1541,2702
$GC,4139,0.72,233.4,32.5,5.5,360,4176,0.00,2.72,31.05,0.694,4,0.000,0.040,2758,2954,2531
$GC,4245,0.73,241.6,26.3,6.1,368,4258,0.00,2.72,5.85,0.738,6,0.000,0.042,2758,1541,2497
$GC,4451,0.80,300.3,15.2,5.2,391,4501,0.12,2.78,43.58,0.675,4,0.063,0.038,2788,2949,2258
$GC,4522,0.80,300.3,10.6,6.6,402,4528,0.00,2.72,0.00,0.000,6,0.000,0.043,2788,1544,2258
$GC,4595,0.83,329.3,5.8,5.7,413,4614,0.00,0.00,17.00,0.679,2,0.000,0.000,2788,1544,2164
$STATE,4614,end climb,SURFACE_DEPTH_REACHED
$STATE,4614,begin surface coast
$FINISH,0.3,1.021911
$STATE,4720,end surface coast,CONTROL_FINISHED_OK
$STATE,4720,begin surface
$SM_CCo,4742,15.77,0.706,1,0,2057,350.04
$SM_GC,1.15,0.00,0.00,15.77,0.000,0.000,0.706,367,1990,2057,-10.32,-0.31,350.04
$IRIDIUM_FIX,4726.11,-12250.84,300907,000049
$TT8_MAMPS,0.026845
$HUMID,2148
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.0,20.827
$10V_AH,10.2,7.797
$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,24.300,72.850,309.450,15.775,0.000,38.424,39.356,103.275,1.500,0.000,0.000,30.484,801.675,2751.020,427.651,770.713,341.968,33.343,879.130,0.000,739.244,0.000,5.544
$DEVICE_MAMPS,150.332,62.127,742.456,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,291.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12736,432
$CFSIZE,260034560,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290907,231435,4743.797,-12249.895,8,2.2,28,18.3