version: 66.02
glider: 23
mission: 2
dive: 259
start: 9 30 107 2 13 26
data:
$ID,23
$MISSION,2
$DIVE,259
$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,-28508.045
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,020738,4744.497,-12249.706,30,1.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.8
$GPS2,021202,4744.559,-12249.685,9,1.2,14,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,JL3N
$TGT_LATLONG,4745.700,-12249.667
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.051,0.246
$KALMAN_X,13845.5,104.7,71.3,-9951.1,-131.0
$KALMAN_Y,5840.9,7.7,13.3,2986.8,34.6
$MHEAD_RNG_PITCHd_Wd,353.5,2114,-7.1,-6.296
$D_GRID,174
$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,21,-0.54,-88.0,0.0,0.0,0,103,0.00,0.00,-78.72,0.000,2,0.000,0.000,362,2001,3612
$GC,105,-0.54,-88.0,2.0,-3.4,13,131,11.90,2.50,-7.80,0.000,4,0.150,0.060,2488,3412,3843
$GC,383,-0.54,-88.0,13.1,-2.8,55,389,0.00,2.42,0.00,0.000,6,0.000,0.035,2488,1985,3844
$GC,455,-0.54,-88.0,15.4,-3.1,66,461,0.00,2.47,0.00,0.000,4,0.000,0.048,2488,3410,3844
$GC,653,-0.54,-88.0,21.2,-3.1,94,657,0.00,2.40,0.00,0.000,6,0.000,0.035,2488,1991,3844
$GC,848,-0.54,-88.0,26.3,-2.7,109,853,0.00,2.92,0.00,0.000,4,0.000,0.053,2488,584,3845
$GC,881,-0.54,-88.0,27.1,-2.8,111,885,0.00,2.83,0.00,0.000,6,0.000,0.030,2488,2003,3845
$GC,1076,-0.54,-88.0,32.0,-2.6,126,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2002,3845
$GC,1268,-0.54,-88.0,36.8,-2.6,141,1273,0.00,2.92,0.00,0.000,4,0.000,0.050,2488,591,3845
$GC,1314,-0.54,-88.0,38.1,-3.2,144,1319,0.00,2.83,0.00,0.000,6,0.000,0.030,2488,2006,3845
$GC,1509,-0.54,-88.0,43.3,-2.8,159,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2005,3845
$GC,1700,-0.54,-88.0,48.1,-2.5,174,1705,0.00,2.95,0.00,0.000,4,0.000,0.051,2488,580,3845
$GC,1733,-0.54,-88.0,49.0,-2.8,176,1738,0.00,2.83,0.00,0.000,6,0.000,0.031,2488,1999,3845
$GC,1929,-0.54,-88.0,53.7,-2.3,191,1933,0.00,2.92,0.00,0.000,4,0.000,0.050,2488,591,3845
$GC,1953,-0.54,-88.0,54.4,-2.4,192,1961,0.00,2.85,0.00,0.000,6,0.000,0.030,2488,2002,3845
$GC,2150,-0.54,-88.0,58.9,-2.2,208,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2001,3845
$GC,2340,-0.54,-88.0,63.7,-2.4,223,2345,0.00,2.95,0.00,0.000,4,0.000,0.050,2487,586,3845
$GC,2413,-0.54,-88.0,65.8,-2.8,228,2418,0.00,2.83,0.00,0.000,6,0.000,0.031,2488,1998,3845
$GC,2609,-0.54,-88.0,70.1,-2.4,243,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1997,3845
$GC,2799,-0.54,-88.0,74.4,-2.3,258,2804,0.00,2.95,0.00,0.000,4,0.000,0.051,2488,581,3845
$GC,2837,-0.54,-88.0,75.3,-2.9,260,2844,0.00,2.85,0.00,0.000,6,0.000,0.030,2488,2009,3845
$GC,3034,-0.54,-88.0,79.7,-2.3,276,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2008,3845
$GC,3226,-0.54,-88.0,83.9,-2.1,291,3230,0.00,2.92,0.00,0.000,4,0.000,0.051,2488,593,3845
$STATE,3269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3269,begin apogee
$GC,3277,-0.31,0.0,85.0,2.2,294,3348,0.25,0.00,67.85,0.743,6,0.087,0.000,2537,1572,3484
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3349,begin climb
$GC,3351,0.54,88.0,85.6,0.0,300,3424,0.88,2.65,66.32,0.726,4,0.071,0.042,2723,2943,3124
$GC,3457,0.64,178.6,81.2,4.7,308,3536,0.12,2.67,68.22,0.709,6,0.061,0.038,2755,1550,2754
$GC,3725,0.65,190.4,65.0,6.1,330,3740,0.00,2.70,8.60,0.734,4,0.000,0.060,2755,212,2706
$GC,3788,0.65,190.4,60.9,6.7,335,3792,0.00,2.42,0.00,0.000,6,0.000,0.028,2755,1538,2706
$GC,3990,0.65,190.4,48.1,6.4,351,3995,0.00,2.60,0.00,0.000,4,0.000,0.058,2755,207,2706
$GC,4068,0.65,190.4,42.8,6.9,356,4075,0.00,2.47,0.00,0.000,6,0.000,0.027,2755,1558,2706
$GC,4265,0.66,201.9,30.9,6.1,372,4278,0.00,2.70,8.30,0.728,4,0.000,0.057,2755,213,2660
$GC,4362,0.66,201.9,24.4,6.8,379,4370,0.00,2.45,0.00,0.000,6,0.000,0.028,2755,1542,2659
$GC,4565,0.68,215.4,12.5,6.1,404,4583,0.00,2.65,9.88,0.716,4,0.000,0.058,2755,218,2604
$STATE,4693,end climb,SURFACE_DEPTH_REACHED
$STATE,4694,begin surface coast
$FINISH,2.1,1.022331
$STATE,4741,end surface coast,CONTROL_FINISHED_OK
$STATE,4741,begin surface
$SM_CCo,4765,63.97,0.665,0,0,2056,350.04
$SM_GC,0.80,0.00,0.00,63.97,0.000,0.000,0.665,369,1988,2056,-10.31,-0.34,350.04
$IRIDIUM_FIX,4726.11,-12249.11,300907,040443
$TT8_MAMPS,0.026845
$HUMID,2146
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,24.0,21.046
$10V_AH,10.2,7.887
$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,23.975,76.025,229.175,63.975,0.000,40.701,33.233,98.722,1.000,0.000,0.000,15.865,811.948,2828.686,416.467,748.454,331.330,33.343,849.008,0.000,732.904,0.000,5.545
$DEVICE_MAMPS,149.565,59.826,743.223,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,292.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12695,431
$CFSIZE,260034560,250761216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,033451,4744.705,-12249.604,12,1.7,13,18.3