version: 66.02
glider: 23
mission: 2
dive: 276
start: 9 30 107 19 40 14
data:
$ID,23
$MISSION,2
$DIVE,276
$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,-28435.99
$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,39
$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
$GPS1,193403,4743.127,-12250.343,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.9
$GPS2,193850,4743.153,-12250.323,13,1.8,30,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,-0.256
$KALMAN_X,13948.1,20.1,66.2,-10761.5,-0.2
$KALMAN_Y,7913.2,415.1,129.8,-2214.1,-50.4
$MHEAD_RNG_PITCHd_Wd,170.5,4216,-14.5,-9.048
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.03,-117.3,0.0,0.0,0,109,0.00,0.00,-84.78,0.000,2,0.000,0.000,368,1915,3715
$GC,112,-1.03,-117.3,2.2,-4.7,14,137,11.25,2.58,-8.25,0.000,4,0.149,0.058,2378,3304,3966
$GC,223,-1.03,-117.3,10.5,-8.1,31,229,0.00,2.50,0.00,0.000,6,0.000,0.036,2378,1902,3966
$GC,295,-1.03,-117.3,16.3,-8.7,42,302,0.00,2.55,0.00,0.000,4,0.000,0.045,2379,3308,3966
$GC,402,-1.03,-117.3,25.3,-7.6,53,407,0.00,2.50,0.00,0.000,6,0.000,0.035,2378,1908,3965
$GC,598,-1.03,-117.3,37.0,-6.0,68,602,0.00,2.55,0.00,0.000,4,0.000,0.047,2378,3312,3966
$GC,763,-1.03,-117.3,47.4,-6.4,80,767,0.00,2.50,0.00,0.000,6,0.000,0.037,2378,1910,3966
$GC,958,-1.03,-117.3,58.8,-6.2,95,962,0.00,2.53,0.00,0.000,4,0.000,0.048,2378,3306,3966
$GC,1004,-1.03,-117.3,61.8,-6.5,98,1008,0.00,2.47,0.00,0.000,6,0.000,0.037,2378,1909,3966
$GC,1199,-1.03,-117.3,73.5,-5.8,113,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1910,3966
$GC,1389,-1.03,-117.3,84.4,-5.8,128,1393,0.00,2.53,0.00,0.000,4,0.000,0.048,2378,3306,3966
$GC,1502,-1.03,-117.3,91.5,-6.4,136,1507,0.00,2.50,0.00,0.000,6,0.000,0.038,2378,1902,3966
$STATE,1569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1569,begin apogee
$GC,1575,-0.31,0.0,95.7,5.6,141,1670,0.80,0.00,91.47,0.747,6,0.090,0.000,2538,1740,3484
$STATE,1671,end apogee,CONTROL_FINISHED_OK
$STATE,1671,begin climb
$GC,1673,1.03,117.3,97.2,0.0,149,1766,1.38,0.00,88.93,0.726,6,0.068,0.000,2829,1740,3004
$GC,1954,1.03,117.3,73.8,9.4,172,1958,0.00,2.62,0.00,0.000,4,0.000,0.042,2829,3157,3004
$GC,2013,1.04,125.9,68.2,8.8,176,2026,0.00,2.60,6.20,0.756,6,0.000,0.041,2829,1759,2970
$GC,2214,1.04,125.9,49.9,9.4,192,2219,0.00,2.85,0.00,0.000,4,0.000,0.063,2829,327,2969
$GC,2233,1.04,125.9,48.1,9.4,193,2238,0.00,2.67,0.00,0.000,6,0.000,0.028,2829,1758,2969
$GC,2429,1.07,147.5,31.2,8.4,208,2454,0.00,2.62,15.98,0.714,4,0.000,0.041,2829,3148,2881
$GC,2480,1.07,147.5,26.6,9.1,212,2484,0.00,2.62,0.00,0.000,6,0.000,0.041,2829,1741,2881
$GC,2681,1.10,176.7,9.7,8.1,236,2711,0.00,2.88,21.23,0.690,4,0.000,0.061,2829,343,2762
$GC,2718,1.10,177.3,6.4,9.0,242,2724,0.00,2.67,0.00,0.000,6,0.000,0.028,2829,1755,2762
$STATE,2735,end climb,SURFACE_DEPTH_REACHED
$STATE,2735,begin surface coast
$FINISH,0.2,1.022256
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2798,begin surface
$SM_CCo,2819,82.47,0.650,0,0,2057,350.04
$SM_GC,0.89,0.00,0.00,82.47,0.000,0.000,0.650,367,1915,2057,-10.33,0.14,350.04
$IRIDIUM_FIX,4726.11,-12250.84,300907,222208
$TT8_MAMPS,0.025311
$HUMID,2140
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,999.0
$24V_AH,24.0,22.304
$10V_AH,10.2,8.291
$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,24.600,47.375,223.800,82.475,0.000,37.498,37.120,109.101,1.250,0.000,0.000,32.447,498.726,1536.278,412.597,482.557,304.932,33.331,701.247,0.000,455.078,0.000,8.499
$DEVICE_MAMPS,148.798,62.894,756.262,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6471,254
$CFSIZE,260034560,250347520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,202927,4742.861,-12250.341,8,1.6,8,18.3