version: 66.02
glider: 23
mission: 2
dive: 342
start: 10 3 107 10 35 13
data:
$ID,23
$MISSION,2
$DIVE,342
$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,-28319.775
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,102603,4742.594,-12250.592,10,1.8,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.1
$GPS2,103351,4742.547,-12250.611,13,1.3,13,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.017,0.248
$KALMAN_X,22840.1,267.8,-4.6,-20188.5,-20.4
$KALMAN_Y,13922.4,45.3,-134.4,-8708.6,-37.1
$MHEAD_RNG_PITCHd_Wd,345.7,468,-15.3,-9.048
$D_GRID,158
$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,-1.09,-117.3,0.0,0.0,0,124,0.00,0.00,-95.72,0.000,6,0.000,0.000,365,2084,3963
$GC,129,-1.09,-117.3,1.0,2.9,16,147,11.27,2.90,0.00,0.000,4,0.152,0.046,2369,687,3965
$GC,209,-1.09,-117.3,12.2,-11.6,28,215,0.00,2.85,0.00,0.000,6,0.000,0.029,2369,2107,3967
$GC,281,-1.09,-117.3,18.6,-7.4,39,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2107,3967
$GC,358,-1.09,-117.3,23.4,-6.3,47,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2106,3967
$GC,549,-1.09,-117.3,36.2,-6.9,62,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2107,3967
$GC,739,-1.09,-117.3,49.2,-6.7,77,743,0.00,2.45,0.00,0.000,4,0.000,0.050,2369,3518,3968
$GC,838,-1.09,-117.3,56.5,-7.2,84,842,0.00,2.40,0.00,0.000,6,0.000,0.034,2369,2097,3968
$GC,1033,-1.09,-117.3,69.5,-6.6,99,1038,0.00,2.92,0.00,0.000,4,0.000,0.052,2369,690,3968
$GC,1079,-1.09,-117.3,72.6,-6.8,102,1084,0.00,2.85,0.00,0.000,6,0.000,0.031,2369,2108,3968
$GC,1275,-1.09,-117.3,85.5,-6.4,117,1279,0.00,2.42,0.00,0.000,4,0.000,0.051,2369,3508,3968
$GC,1306,-1.09,-117.3,87.7,-6.8,119,1313,0.00,2.40,0.00,0.000,6,0.000,0.035,2369,2106,3967
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1431,-0.31,0.0,95.6,6.7,129,1526,0.85,0.00,91.60,0.743,6,0.089,0.000,2540,1880,3485
$STATE,1527,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1530,1.09,117.3,97.0,0.0,137,1627,1.42,0.00,88.75,0.724,6,0.066,0.000,2843,1881,3004
$GC,1816,1.09,117.3,72.1,10.1,160,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1880,3003
$GC,2007,1.09,117.3,53.4,9.8,175,2011,0.00,2.88,0.00,0.000,4,0.000,0.060,2843,482,3004
$GC,2058,1.09,117.3,47.6,10.9,178,2065,0.00,2.72,0.00,0.000,6,0.000,0.029,2843,1893,3004
$GC,2254,1.09,117.3,28.3,9.7,194,2259,0.00,2.53,0.00,0.000,4,0.000,0.044,2842,3296,3003
$GC,2293,1.09,117.3,24.4,9.8,196,2300,0.00,2.53,0.00,0.000,6,0.000,0.039,2843,1895,3002
$GC,2496,1.16,189.7,8.0,6.5,223,2551,0.00,0.00,52.92,0.674,2,0.000,0.000,2843,1895,2714
$STATE,2552,end climb,SURFACE_DEPTH_REACHED
$STATE,2552,begin surface coast
$FINISH,0.1,1.000306
$STATE,2637,end surface coast,CONTROL_FINISHED_OK
$STATE,2637,begin surface
$SM_CCo,2659,76.60,0.651,0,0,2058,350.04
$SM_GC,0.85,0.00,0.00,76.60,0.000,0.000,0.651,367,2123,2058,-10.32,0.65,350.04
$IRIDIUM_FIX,4722.92,-12253.53,031007,141444
$TT8_MAMPS,0.026845
$HUMID,2129
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,999.0
$24V_AH,24.0,27.490
$10V_AH,10.2,9.927
$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,24.800,32.750,233.275,76.600,0.000,76.646,66.467,166.737,1.250,0.000,0.000,15.306,462.294,1508.704,400.845,428.615,448.750,33.333,676.062,0.000,419.301,0.000,7.062
$DEVICE_MAMPS,151.866,59.826,743.223,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6430,245
$CFSIZE,260034560,248635392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,112207,4742.775,-12250.536,29,0.9,34,18.3