version: 66.02
glider: 23
mission: 2
dive: 287
start: 10 1 107 6 16 39
data:
$ID,23
$MISSION,2
$DIVE,287
$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,-28453.082
$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,2130
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,060939,4740.942,-12250.271,7,1.3,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-58.2
$GPS2,061517,4740.981,-12250.177,12,3.3,31,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.258,-0.008
$KALMAN_X,15343.8,267.3,116.0,-12281.9,148.5
$KALMAN_Y,9260.4,227.8,120.1,-7387.4,-54.7
$MHEAD_RNG_PITCHd_Wd,250.0,791,-14.5,-9.048
$D_GRID,88
$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,-1.03,-117.3,0.0,0.0,0,165,0.00,0.00,-139.43,0.000,2,0.000,0.000,367,2117,3440
$GC,168,-1.03,-117.3,2.0,-4.1,23,206,11.27,2.92,-19.38,0.000,4,0.150,0.058,2380,709,3963
$GC,265,-1.03,-117.3,7.5,-7.1,38,271,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2136,3973
$GC,338,-1.03,-117.3,14.4,-9.0,49,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2136,3973
$GC,410,-1.03,-117.3,19.7,-6.6,60,416,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3541,3974
$GC,489,-1.03,-117.3,25.2,-6.9,67,493,0.00,2.40,0.00,0.000,6,0.000,0.035,2380,2125,3979
$GC,684,-1.03,-117.3,37.4,-6.3,82,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2126,3980
$GC,878,-1.03,-117.3,50.8,-7.6,97,882,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,3537,3980
$GC,911,-1.03,-117.3,53.8,-8.3,99,915,0.00,2.38,0.00,0.000,6,0.000,0.035,2380,2132,3981
$GC,1106,-1.03,-117.3,66.4,-6.2,114,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2132,3981
$GC,1299,-1.03,-117.3,78.2,-6.5,129,1303,0.00,2.45,0.00,0.000,4,0.000,0.050,2380,3539,3981
$GC,1556,-1.03,-117.3,83.2,-0.1,148,1560,0.00,2.40,0.00,0.000,6,0.000,0.038,2380,2128,3981
$GC,1752,-1.03,-117.3,83.1,0.1,163,1756,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,3550,3981
$GC,2010,-1.03,-117.3,83.1,-0.1,182,2014,0.00,2.40,0.00,0.000,6,0.000,0.037,2380,2129,3982
$GC,2205,-1.03,-117.3,83.1,-0.0,197,2209,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3542,3981
$GC,2463,-1.03,-117.3,83.0,-0.0,216,2467,0.00,2.40,0.00,0.000,6,0.000,0.037,2380,2123,3981
$GC,2658,-1.03,-117.3,83.1,-0.6,231,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2124,3981
$GC,2849,-1.03,-117.3,82.9,0.1,246,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2124,3981
$GC,3038,-1.03,-117.3,82.9,-0.0,261,3042,0.00,2.47,0.00,0.000,4,0.000,0.053,2380,3547,3981
$GC,3298,-1.03,-117.3,82.8,-0.1,280,3302,0.00,2.40,0.00,0.000,6,0.000,0.036,2380,2121,3981
$GC,3493,-1.03,-117.3,82.8,-0.2,295,3497,0.00,2.47,0.00,0.000,4,0.000,0.052,2380,3546,3981
$STATE,3609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3610,begin apogee
$GC,3618,-0.31,0.0,82.7,-0.6,303,3745,0.73,0.00,110.95,0.703,6,0.070,0.000,2536,1743,3485
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3750,1.03,117.3,82.5,0.0,314,3848,1.40,2.88,88.12,0.714,4,0.068,0.061,2833,333,3005
$GC,4053,1.03,117.3,58.2,10.1,337,4061,0.00,2.70,0.00,0.000,6,0.000,0.028,2833,1758,3010
$GC,4250,1.05,133.2,40.8,8.5,353,4267,0.00,2.60,12.07,0.709,4,0.000,0.043,2833,3154,2940
$GC,4320,1.07,152.4,34.7,8.4,358,4339,0.00,2.62,13.85,0.710,6,0.000,0.041,2833,1741,2862
$GC,4529,1.07,152.4,16.6,9.5,376,4535,0.00,2.60,0.00,0.000,4,0.000,0.041,2833,3150,2865
$GC,4561,1.09,172.3,14.0,8.4,381,4585,0.00,2.60,14.62,0.693,6,0.000,0.041,2833,1749,2781
$GC,4651,1.09,172.3,6.0,10.2,395,4657,0.00,2.83,0.00,0.000,4,0.000,0.063,2833,327,2782
$STATE,4661,end climb,SURFACE_DEPTH_REACHED
$STATE,4661,begin surface coast
$FINISH,4.5,1.022249
$STATE,4669,end surface coast,CONTROL_FINISHED_OK
$STATE,4669,begin surface
$SM_CCo,4694,91.00,0.654,1,0,2056,350.04
$SM_GC,0.79,0.00,0.00,91.00,0.000,0.000,0.654,366,2130,2056,-10.32,-0.03,350.04
$IRIDIUM_FIX,4722.92,-12253.53,011007,090955
$TT8_MAMPS,0.026845
$HUMID,2122
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.8,36.5
$24V_AH,24.0,23.142
$10V_AH,10.2,8.559
$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,24.800,62.975,239.625,91.000,0.000,39.828,36.860,152.423,1.000,0.000,0.000,34.182,749.719,2700.057,505.015,825.629,392.892,33.336,969.290,0.000,788.891,0.000,7.211
$DEVICE_MAMPS,149.565,62.894,714.077,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,267.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,398
$CFSIZE,260034560,250044416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,011007,073737,4740.939,-12250.146,23,1.6,24,18.3