version: 66.02
glider: 23
mission: 2
dive: 352
start: 10 3 107 20 4 31
data:
$ID,23
$MISSION,2
$DIVE,352
$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,-28302.785
$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,20
$R_STBD_OVSHOOT,37
$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
$GPS1,195903,4745.396,-12249.399,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.9
$GPS2,200314,4745.435,-12249.376,29,1.6,29,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.074,0.248
$KALMAN_X,23165.6,-7.1,35.0,-18738.1,-34.8
$KALMAN_Y,13963.9,-84.9,76.8,-3487.4,37.9
$MHEAD_RNG_PITCHd_Wd,358.3,1639,-14.5,-9.048
$D_GRID,172
$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,-117.3,0.0,0.0,0,104,0.00,0.00,-79.07,0.000,2,0.000,0.000,367,2111,3647
$GC,108,-1.03,-117.3,2.3,-5.0,13,138,11.27,3.05,-9.00,0.000,4,0.150,0.057,2380,683,3963
$GC,389,-1.03,-117.3,26.9,-7.0,49,396,0.00,2.85,0.00,0.000,6,0.000,0.030,2380,2099,3965
$GC,585,-1.03,-117.3,40.1,-6.7,65,590,0.00,2.95,0.00,0.000,4,0.000,0.048,2380,685,3966
$GC,605,-1.03,-117.3,41.5,-6.9,66,609,0.00,2.85,0.00,0.000,6,0.000,0.029,2380,2103,3966
$GC,801,-1.03,-117.3,54.9,-6.8,81,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2102,3967
$GC,992,-1.03,-117.3,67.7,-6.7,96,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2101,3967
$GC,1183,-1.03,-117.3,80.5,-6.8,111,1188,0.00,2.95,0.00,0.000,4,0.000,0.048,2380,686,3966
$GC,1221,-1.03,-117.3,83.4,-7.1,113,1228,0.00,2.85,0.00,0.000,6,0.000,0.030,2380,2105,3967
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1408,-0.31,0.0,95.2,6.5,128,1503,0.77,0.00,90.82,0.742,6,0.085,0.000,2538,1870,3484
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,1.03,117.3,97.0,0.0,136,1600,1.38,0.00,88.95,0.719,6,0.066,0.000,2829,1870,3004
$GC,1787,1.04,124.9,75.7,8.8,159,1798,0.00,0.00,5.62,0.757,6,0.000,0.000,2829,1870,2973
$GC,1988,1.05,130.0,57.7,8.9,175,2000,0.00,2.88,3.40,0.769,4,0.000,0.057,2829,492,2952
$GC,2027,1.05,130.0,53.9,10.1,178,2031,0.00,2.72,0.00,0.000,6,0.000,0.028,2829,1900,2952
$GC,2222,1.06,145.4,36.7,8.6,193,2238,0.00,2.58,11.23,0.719,4,0.000,0.044,2829,3298,2891
$GC,2266,1.06,145.4,32.5,9.3,196,2273,0.00,2.58,0.00,0.000,6,0.000,0.038,2829,1897,2890
$GC,2464,1.10,179.9,15.3,7.9,216,2494,0.00,0.00,25.52,0.686,6,0.000,0.000,2829,1897,2749
$GC,2563,1.21,280.6,9.1,5.8,231,2619,0.17,0.00,52.83,0.665,2,0.046,0.000,2877,1897,2459
$STATE,2619,end climb,SURFACE_DEPTH_REACHED
$STATE,2619,begin surface coast
$FINISH,0.2,1.011014
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2720,48.65,0.653,1,0,2056,350.04
$SM_GC,0.66,0.00,0.00,48.65,0.000,0.000,0.653,368,2137,2056,-10.31,1.05,350.04
$IRIDIUM_FIX,4722.92,-12325.44,031007,232320
$TT8_MAMPS,0.026845
$HUMID,2136
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,24.0,28.291
$10V_AH,10.2,10.160
$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,24.950,29.175,278.375,48.650,0.000,40.795,28.041,76.458,1.250,0.000,0.000,30.862,463.496,1476.215,416.609,437.093,270.848,33.350,685.513,0.000,414.887,0.000,7.062
$DEVICE_MAMPS,149.565,56.758,768.534,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6465,252
$CFSIZE,260034560,248393728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,205158,4745.737,-12249.225,9,2.4,28,18.3