version: 66.02
glider: 23
mission: 2
dive: 351
start: 10 3 107 19 11 53
data:
$ID,23
$MISSION,2
$DIVE,351
$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,-1
$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,-28292.904
$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,30
$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
$GPS1,190518,4745.080,-12249.512,7,2.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.0
$GPS2,191007,4745.111,-12249.492,11,1.9,27,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.070,0.249
$KALMAN_X,23153.1,0.6,45.0,-18887.2,-22.5
$KALMAN_Y,13912.6,-108.7,81.4,-4017.1,33.6
$MHEAD_RNG_PITCHd_Wd,357.3,2256,-14.5,-9.048
$D_GRID,173
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.03,-117.3,0.0,0.0,0,98,0.00,0.00,-72.65,0.000,2,0.000,0.000,365,2092,3500
$GC,102,-1.03,-117.3,2.2,-4.9,12,134,11.25,2.53,-14.82,0.000,4,0.148,0.061,2378,3502,3963
$GC,141,-1.03,-117.3,5.0,-6.6,18,147,0.00,2.42,0.00,0.000,6,0.000,0.035,2378,2092,3964
$GC,213,-1.03,-117.3,11.5,-9.6,29,219,0.00,2.92,0.00,0.000,4,0.000,0.053,2378,690,3964
$GC,469,-1.03,-117.3,31.4,-7.1,56,476,0.00,2.85,0.00,0.000,6,0.000,0.030,2378,2109,3965
$GC,666,-1.03,-117.3,44.2,-6.7,72,670,0.00,2.95,0.00,0.000,4,0.000,0.049,2378,690,3965
$GC,738,-1.03,-117.3,49.2,-7.0,77,743,0.00,2.85,0.00,0.000,6,0.000,0.031,2378,2107,3965
$GC,934,-1.03,-117.3,62.5,-6.9,92,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2106,3966
$GC,1125,-1.03,-117.3,75.3,-7.0,107,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2106,3966
$GC,1313,-1.03,-117.3,88.3,-6.8,122,1317,0.00,2.97,0.00,0.000,4,0.000,0.049,2378,680,3966
$GC,1351,-1.03,-117.3,91.3,-7.4,124,1358,0.00,2.85,0.00,0.000,6,0.000,0.030,2378,2101,3966
$STATE,1406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1406,begin apogee
$GC,1413,-0.31,0.0,95.1,6.7,129,1507,0.80,0.00,90.70,0.743,6,0.087,0.000,2540,1878,3484
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1510,1.03,117.3,96.8,0.0,137,1607,1.38,0.00,88.78,0.719,6,0.068,0.000,2831,1877,3004
$GC,1797,1.03,117.3,74.7,9.3,160,1801,0.00,2.85,0.00,0.000,4,0.000,0.057,2831,485,3004
$GC,1836,1.03,117.3,70.9,9.5,162,1842,0.00,2.72,0.00,0.000,6,0.000,0.028,2831,1898,3004
$GC,2031,1.05,128.5,53.5,8.7,178,2045,0.00,2.62,7.82,0.734,4,0.000,0.044,2832,3294,2959
$GC,2063,1.05,134.7,50.6,8.8,180,2074,0.00,2.58,4.28,0.755,6,0.000,0.039,2832,1885,2935
$GC,2273,1.07,148.0,31.8,8.6,197,2288,0.00,2.95,10.23,0.718,4,0.000,0.060,2831,474,2879
$GC,2310,1.07,148.0,28.2,9.8,200,2315,0.00,2.75,0.00,0.000,6,0.000,0.029,2831,1896,2879
$GC,2510,1.13,205.0,11.6,7.2,223,2559,0.12,0.00,42.33,0.674,6,0.052,0.000,2865,1898,2647
$STATE,2602,end climb,SURFACE_DEPTH_REACHED
$STATE,2602,begin surface coast
$FINISH,0.2,1.022067
$STATE,2676,end surface coast,CONTROL_FINISHED_OK
$STATE,2676,begin surface
$SM_CCo,2698,71.22,0.650,1,0,2056,350.04
$SM_GC,0.88,0.00,0.00,71.22,0.000,0.000,0.650,366,2111,2056,-10.32,0.31,350.04
$IRIDIUM_FIX,4726.11,-12252.58,031007,222203
$TT8_MAMPS,0.026845
$HUMID,2136
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,24.0,28.219
$10V_AH,10.2,10.139
$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,24.850,39.700,244.125,71.225,0.000,38.209,58.101,89.009,1.250,0.000,0.000,29.259,483.360,1449.331,408.612,459.596,332.592,33.328,691.930,0.000,436.656,0.000,7.063
$DEVICE_MAMPS,148.031,60.593,754.728,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6429,249
$CFSIZE,260034560,248414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,195903,4745.396,-12249.399,10,2.0,10,18.3