version: 66.02
glider: 23
mission: 2
dive: 291
start: 10 1 107 11 25 54
data:
$ID,23
$MISSION,2
$DIVE,291
$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,-28406.914
$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,33
$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
$GPS1,111609,4741.014,-12250.975,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-57.1
$GPS2,112432,4741.033,-12251.013,14,1.8,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.120
$KALMAN_X,15913.3,393.9,201.5,-14092.1,-107.1
$KALMAN_Y,9231.0,55.8,-71.6,-6900.9,-38.6
$MHEAD_RNG_PITCHd_Wd,100.7,362,-15.3,-9.048
$D_GRID,101
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.09,-117.3,0.0,0.0,0,167,0.00,0.00,-140.00,0.000,2,0.000,0.000,364,2138,3447
$GC,170,-1.09,-117.3,2.1,-4.5,23,207,11.20,2.42,-18.02,0.000,4,0.150,0.062,2367,3531,3965
$GC,333,-1.09,-117.3,16.6,-9.3,48,339,0.00,2.38,0.00,0.000,6,0.000,0.035,2367,2132,3966
$GC,404,-1.09,-117.3,21.0,-6.1,58,409,0.00,2.95,0.00,0.000,4,0.000,0.053,2367,710,3967
$GC,490,-1.09,-117.3,27.6,-8.5,64,495,0.00,2.85,0.00,0.000,6,0.000,0.031,2367,2131,3967
$GC,686,-1.09,-117.3,45.1,-8.7,79,689,0.00,2.42,0.00,0.000,4,0.000,0.051,2367,3535,3968
$GC,730,-1.09,-117.3,49.4,-9.3,82,737,0.00,2.40,0.00,0.000,6,0.000,0.035,2367,2131,3968
$GC,927,-1.09,-117.3,67.5,-9.0,98,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2130,3969
$GC,1116,-1.09,-117.3,84.6,-8.0,113,1121,0.00,2.92,0.00,0.000,4,0.000,0.053,2367,716,3968
$GC,1149,-1.09,-117.3,87.4,-8.7,115,1153,0.00,2.85,0.00,0.000,6,0.000,0.031,2367,2140,3968
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1291,begin apogee
$GC,1300,-0.31,0.0,95.1,1.3,126,1391,0.80,0.00,88.20,0.731,6,0.067,0.000,2539,1733,3485
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1394,1.09,117.3,94.9,0.0,134,1491,1.42,0.00,89.70,0.718,6,0.067,0.000,2842,1733,3005
$GC,1680,1.09,117.3,72.8,10.5,157,1685,0.00,2.65,0.00,0.000,4,0.000,0.043,2842,3165,3008
$GC,1785,1.09,117.3,61.7,9.5,164,1792,0.00,2.65,0.00,0.000,6,0.000,0.041,2842,1755,3007
$GC,1981,1.09,123.2,47.0,8.8,180,1994,0.00,2.65,4.28,0.752,4,0.000,0.042,2842,3159,2981
$GC,2033,1.09,123.2,41.7,10.4,184,2037,0.00,2.62,0.00,0.000,6,0.000,0.041,2842,1741,2982
$GC,2229,1.17,197.8,25.6,6.4,199,2289,0.10,0.00,55.35,0.685,6,0.058,0.000,2868,1741,2677
$STATE,2419,end climb,SURFACE_DEPTH_REACHED
$STATE,2419,begin surface coast
$FINISH,0.8,1.022098
$STATE,2473,end surface coast,CONTROL_FINISHED_OK
$STATE,2473,begin surface
$SM_CCo,2495,74.93,0.648,0,0,2056,350.04
$SM_GC,0.95,0.00,0.00,74.93,0.000,0.000,0.648,366,2150,2056,-10.32,0.54,350.04
$IRIDIUM_FIX,4722.92,-12251.79,011007,151545
$TT8_MAMPS,0.026845
$HUMID,2109
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.0,30.0
$24V_AH,24.0,23.527
$10V_AH,10.2,8.667
$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,24.800,33.400,237.525,74.925,0.000,79.279,115.053,159.886,1.250,0.000,0.000,16.030,429.020,1348.979,457.459,413.261,470.343,33.341,726.802,0.000,402.185,0.000,6.957
$DEVICE_MAMPS,149.565,62.127,751.660,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,232
$CFSIZE,260034560,249970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,120959,4740.967,-12250.765,11,3.3,30,18.3