version: 66.02
glider: 23
mission: 2
dive: 331
start: 10 3 107 0 30 55
data:
$ID,23
$MISSION,2
$DIVE,331
$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,-28312.17
$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,2100
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,24
$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,540
$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,0
$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
$GPS1,002403,4739.480,-12252.423,13,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.7
$GPS2,002933,4739.532,-12252.361,14,1.6,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,0.240
$KALMAN_X,21344.7,397.3,317.3,-21328.4,-0.4
$KALMAN_Y,13559.6,253.3,277.6,-14555.0,7.0
$MHEAD_RNG_PITCHd_Wd,3.6,2923,-14.5,-9.048
$D_GRID,124
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-72.45,0.000,2,0.000,0.000,364,2110,3486
$GC,103,-1.03,-117.3,2.0,-4.6,12,140,11.30,2.47,-16.33,0.000,4,0.150,0.061,2382,3505,3963
$GC,392,-1.03,-117.3,25.1,-7.8,51,396,0.00,2.40,0.00,0.000,6,0.000,0.035,2382,2090,3964
$GC,587,-1.03,-117.3,38.2,-6.0,66,592,0.00,2.50,0.00,0.000,4,0.000,0.051,2382,3521,3964
$GC,613,-1.03,-117.3,39.7,-5.8,67,619,0.00,2.40,0.00,0.000,6,0.000,0.035,2382,2103,3964
$GC,809,-1.03,-117.3,51.7,-6.3,83,813,0.00,2.95,0.00,0.000,4,0.000,0.053,2382,682,3964
$GC,834,-1.03,-117.3,53.4,-6.8,84,841,0.00,2.88,0.00,0.000,6,0.000,0.031,2382,2111,3964
$GC,1030,-1.03,-117.3,65.4,-5.9,100,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2110,3964
$GC,1223,-1.03,-117.3,77.9,-6.8,115,1228,0.00,2.97,0.00,0.000,4,0.000,0.051,2382,683,3964
$GC,1329,-1.03,-117.3,85.6,-6.5,122,1335,0.00,2.85,0.00,0.000,6,0.000,0.031,2382,2107,3964
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1503,-0.31,0.0,95.1,6.1,136,1597,0.77,0.00,90.97,0.746,6,0.087,0.000,2539,1872,3484
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1601,1.03,117.3,96.8,0.0,144,1699,1.38,2.90,88.90,0.724,4,0.070,0.057,2830,484,3005
$GC,1727,1.04,123.3,89.1,8.9,154,1740,0.00,2.75,4.68,0.766,6,0.000,0.029,2830,1894,2980
$GC,1928,1.04,123.3,70.7,9.4,170,1933,0.00,2.90,0.00,0.000,4,0.000,0.058,2830,490,2979
$GC,1967,1.04,124.3,67.2,9.0,172,1974,0.00,2.72,0.00,0.000,6,0.000,0.029,2830,1890,2980
$GC,2163,1.06,145.5,50.3,8.4,188,2188,0.00,2.97,16.25,0.720,4,0.000,0.058,2830,492,2889
$GC,2233,1.06,145.5,43.6,9.7,193,2241,0.00,2.75,0.00,0.000,6,0.000,0.029,2830,1887,2889
$GC,2429,1.07,153.4,26.1,8.8,209,2442,0.00,2.92,5.62,0.740,4,0.000,0.060,2830,486,2857
$GC,2460,1.07,153.4,22.9,10.2,211,2468,0.00,2.75,0.00,0.000,6,0.000,0.028,2830,1888,2858
$GC,2665,1.13,205.6,5.7,7.4,239,2678,0.12,0.00,10.85,0.706,2,0.052,0.000,2863,1891,2798
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,0.1,1.013219
$STATE,2750,end surface coast,CONTROL_FINISHED_OK
$STATE,2750,begin surface
$SM_CCo,2773,86.43,0.650,0,0,2057,350.04
$SM_GC,0.83,0.00,0.00,86.43,0.000,0.000,0.650,365,2129,2057,-10.33,0.85,350.04
$IRIDIUM_FIX,4719.74,-12251.79,031007,030324
$TT8_MAMPS,0.026845
$HUMID,2126
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.6,31.9
$24V_AH,24.0,26.696
$10V_AH,10.2,9.683
$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,24.875,45.025,217.275,86.425,0.000,40.735,36.767,161.058,1.500,0.000,0.000,16.283,489.578,1503.762,406.847,460.157,373.909,33.333,695.596,0.000,447.431,0.000,10.058
$DEVICE_MAMPS,149.565,61.360,766.233,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6449,252
$CFSIZE,260034560,248905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,011953,4739.855,-12252.045,15,6.1,34,18.3