version: 66.02
glider: 23
mission: 2
dive: 260
start: 9 30 107 3 40 43
data:
$ID,23
$MISSION,2
$DIVE,260
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-28487.973
$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,1910
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,16
$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
$GPS1,033451,4744.705,-12249.604,12,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.0
$GPS2,033920,4744.767,-12249.602,7,1.8,12,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,JL3N
$TGT_LATLONG,4745.700,-12249.667
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.025,0.271
$KALMAN_X,13906.7,70.5,-10.0,-9794.6,-99.5
$KALMAN_Y,5654.8,-24.3,16.4,3590.6,-28.8
$MHEAD_RNG_PITCHd_Wd,346.9,1731,-8.0,-7.037
$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,22,-0.60,-88.0,0.0,0.0,0,103,0.00,0.00,-79.12,0.000,2,0.000,0.000,369,1988,3612
$GC,106,-0.60,-88.0,2.0,-3.5,13,132,11.80,2.40,-7.85,0.000,4,0.150,0.059,2476,3333,3843
$GC,384,-0.60,-88.0,14.6,-3.2,55,390,0.00,2.50,0.00,0.000,6,0.000,0.035,2477,1910,3844
$GC,456,-0.60,-88.0,17.2,-3.5,66,462,0.00,2.55,0.00,0.000,4,0.000,0.045,2477,3333,3845
$GC,693,-0.60,-88.0,25.0,-3.1,91,698,0.00,2.50,0.00,0.000,6,0.000,0.035,2477,1902,3845
$GC,889,-0.60,-88.0,30.6,-3.3,106,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1902,3845
$GC,1079,-0.60,-88.0,37.1,-3.5,121,1084,0.00,2.55,0.00,0.000,4,0.000,0.047,2476,3330,3845
$GC,1125,-0.60,-88.0,38.8,-4.0,124,1130,0.00,2.50,0.00,0.000,6,0.000,0.035,2476,1904,3845
$GC,1321,-0.60,-88.0,45.5,-3.3,139,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1905,3846
$GC,1511,-0.60,-88.0,52.1,-3.5,154,1516,0.00,2.85,0.00,0.000,4,0.000,0.055,2477,495,3845
$GC,1537,-0.60,-88.0,53.1,-3.5,155,1544,0.00,2.75,0.00,0.000,6,0.000,0.028,2476,1921,3845
$GC,1733,-0.60,-88.0,59.0,-2.7,171,1737,0.00,2.50,0.00,0.000,4,0.000,0.049,2477,3326,3846
$GC,1778,-0.60,-88.0,60.1,-2.4,174,1783,0.00,2.50,0.00,0.000,6,0.000,0.035,2476,1902,3846
$GC,1974,-0.60,-88.0,63.1,-1.3,189,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1902,3845
$GC,2165,-0.60,-88.0,65.7,-1.5,204,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1902,3845
$GC,2355,-0.60,-88.0,70.0,-2.6,219,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1902,3845
$GC,2543,-0.60,-88.0,75.1,-2.7,234,2547,0.00,2.55,0.00,0.000,4,0.000,0.048,2476,3330,3845
$GC,2581,-0.60,-88.0,76.2,-3.0,236,2588,0.00,2.47,0.00,0.000,6,0.000,0.035,2476,1909,3845
$GC,2778,-0.60,-88.0,80.8,-2.1,252,2782,0.00,2.85,0.00,0.000,4,0.000,0.054,2476,495,3845
$GC,2810,-0.60,-88.0,81.5,-2.7,254,2815,0.00,2.72,0.00,0.000,6,0.000,0.028,2476,1914,3845
$GC,3006,-0.60,-88.0,85.5,-2.1,269,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1913,3845
$GC,3197,-0.60,-88.0,89.2,-1.9,284,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1913,3845
$GC,3386,-0.60,-88.0,93.3,-2.2,299,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1913,3845
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3476,-0.31,0.0,95.2,2.1,306,3547,0.32,0.00,67.95,0.753,6,0.088,0.000,2541,1738,3483
$STATE,3548,end apogee,CONTROL_FINISHED_OK
$STATE,3548,begin climb
$GC,3550,0.60,88.0,95.5,0.0,312,3620,0.95,0.00,66.53,0.736,6,0.071,0.000,2739,1739,3124
$GC,3806,0.72,202.1,83.5,5.0,333,3898,0.12,2.67,85.57,0.717,4,0.058,0.045,2770,3160,2660
$GC,3953,0.73,212.3,74.6,6.9,344,3966,0.00,2.60,7.82,0.748,6,0.000,0.041,2771,1754,2618
$GC,4154,0.77,248.6,61.8,6.4,360,4191,0.00,2.95,26.70,0.716,4,0.000,0.063,2770,338,2469
$GC,4249,0.77,248.6,55.1,7.2,367,4256,0.00,2.70,0.00,0.000,6,0.000,0.028,2770,1752,2469
$GC,4446,0.83,305.4,42.7,6.0,383,4495,0.00,2.92,42.42,0.693,4,0.000,0.061,2771,334,2236
$GC,4540,0.90,364.4,37.2,6.0,390,4589,0.12,2.70,43.80,0.682,6,0.067,0.028,2800,1749,1998
$GC,4779,0.90,364.4,18.6,8.7,410,4785,0.00,2.88,0.00,0.000,4,0.000,0.063,2800,334,1998
$GC,4838,0.90,364.4,13.9,8.1,419,4844,0.00,2.67,0.00,0.000,6,0.000,0.028,2800,1761,1998
$GC,4910,0.90,364.4,8.8,7.1,430,4916,0.00,2.88,0.00,0.000,4,0.000,0.061,2800,332,1998
$GC,4929,0.94,402.8,7.7,6.3,433,4966,0.00,2.67,28.90,0.674,6,0.000,0.028,2800,1755,1842
$STATE,4977,end climb,SURFACE_DEPTH_REACHED
$STATE,4977,begin surface coast
$FINISH,0.1,1.021723
$STATE,5084,end surface coast,CONTROL_FINISHED_OK
$STATE,5084,begin surface
$SM_CCo,5164,0.00,0.000,0,0,1840,403.27
$SM_GC,0.79,10.95,0.00,0.00,0.035,0.000,0.000,365,1917,1840,-10.26,0.20,403.27
$IRIDIUM_FIX,4726.11,-12250.84,300907,060622
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,21.130
$10V_AH,10.2,7.918
$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,24.275,64.500,369.700,0.000,0.000,37.267,36.924,105.180,1.250,0.000,0.000,14.308,829.181,3063.310,453.810,788.659,337.693,33.342,921.699,0.000,771.280,0.000,7.064
$DEVICE_MAMPS,149.565,62.894,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,308.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,457
$CFSIZE,260034560,250720256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,050807,4745.055,-12249.490,33,1.1,40,18.3