version: 66.02
glider: 23
mission: 2
dive: 270
start: 9 30 107 13 54 8
data:
$ID,23
$MISSION,2
$DIVE,270
$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,35
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-28450.178
$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,20
$R_STBD_OVSHOOT,49
$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
$GPS1,134707,4744.076,-12250.326,13,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.6
$GPS2,135244,4744.125,-12250.305,15,1.5,15,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.026,-0.257
$KALMAN_X,13647.7,-125.9,16.5,-10243.1,6.5
$KALMAN_Y,6838.1,254.0,123.9,823.7,81.6
$MHEAD_RNG_PITCHd_Wd,167.4,6004,-14.5,-9.048
$D_GRID,172
$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,-1.03,-117.3,0.0,0.0,0,108,0.00,0.00,-84.65,0.000,2,0.000,0.000,366,1936,3724
$GC,111,-1.03,-117.3,2.2,-4.8,14,136,11.25,0.00,-7.57,0.000,6,0.149,0.000,2379,1938,3964
$GC,204,-1.03,-117.3,9.2,-7.8,28,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1938,3965
$GC,275,-1.03,-117.3,14.5,-7.1,39,281,0.00,2.45,0.00,0.000,4,0.000,0.044,2379,3301,3965
$GC,369,-1.03,-117.3,21.4,-7.6,52,373,0.00,2.50,0.00,0.000,6,0.000,0.036,2379,1902,3966
$GC,565,-1.03,-117.3,35.6,-6.2,67,569,0.00,2.53,0.00,0.000,4,0.000,0.046,2379,3295,3966
$GC,761,-1.03,-117.3,48.9,-6.4,81,768,0.00,2.50,0.00,0.000,6,0.000,0.036,2379,1909,3966
$GC,958,-1.03,-117.3,60.4,-5.8,97,962,0.00,2.53,0.00,0.000,4,0.000,0.047,2379,3303,3966
$GC,1050,-1.03,-117.3,66.3,-6.3,103,1056,0.00,2.47,0.00,0.000,6,0.000,0.037,2379,1909,3966
$GC,1246,-1.03,-117.3,77.6,-5.5,119,1250,0.00,2.53,0.00,0.000,4,0.000,0.048,2379,3304,3966
$GC,1336,-1.03,-117.3,83.1,-6.3,125,1344,0.00,2.53,0.00,0.000,6,0.000,0.038,2379,1905,3966
$GC,1533,-1.03,-117.3,94.0,-5.6,141,1537,0.00,2.53,0.00,0.000,4,0.000,0.048,2379,3299,3966
$STATE,1550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1550,begin apogee
$GC,1558,-0.31,0.0,95.1,5.5,142,1652,0.77,0.00,91.40,0.739,6,0.091,0.000,2536,1743,3484
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1656,1.03,117.3,96.5,0.0,150,1754,1.40,2.85,88.88,0.719,4,0.070,0.061,2830,343,3004
$GC,1782,1.03,117.3,87.4,10.3,160,1786,0.00,2.65,0.00,0.000,6,0.000,0.028,2831,1748,3003
$GC,1977,1.03,117.3,69.0,9.2,175,1981,0.00,2.60,0.00,0.000,4,0.000,0.043,2830,3156,3003
$GC,2015,1.03,117.3,65.5,9.5,177,2022,0.00,2.65,0.00,0.000,6,0.000,0.041,2831,1748,3002
$GC,2211,1.04,122.0,48.3,8.9,193,2217,0.00,0.00,3.30,0.770,6,0.000,0.000,2831,1748,2986
$GC,2401,1.05,132.7,31.5,8.7,208,2413,0.00,0.00,7.57,0.728,6,0.000,0.000,2831,1748,2942
$GC,2605,1.10,181.1,15.5,7.5,228,2648,0.00,2.65,36.00,0.683,4,0.000,0.040,2830,3160,2744
$STATE,2731,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$FINISH,0.7,1.022448
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2780,begin surface
$SM_CCo,2803,80.35,0.647,0,0,2057,350.04
$SM_GC,0.77,0.00,0.00,80.35,0.000,0.000,0.647,363,1893,2057,-10.34,-0.48,350.04
$IRIDIUM_FIX,4726.11,-12248.15,300907,161638
$TT8_MAMPS,0.026845
$HUMID,2135
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,21.847
$10V_AH,10.2,8.150
$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,24.575,41.150,227.150,80.350,0.000,37.833,37.818,146.344,1.250,0.000,0.000,18.181,488.852,1529.391,409.043,471.628,368.858,33.332,700.480,0.000,459.320,0.000,7.063
$DEVICE_MAMPS,148.798,61.360,770.068,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6470,255
$CFSIZE,260034560,250499072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,144303,4743.950,-12250.302,8,1.9,8,18.3