version: 66.02
glider: 23
mission: 2
dive: 353
start: 10 3 107 21 0 53
data:
$ID,23
$MISSION,2
$DIVE,353
$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,-28314.057
$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,19
$R_STBD_OVSHOOT,55
$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
$GPS1,205158,4745.737,-12249.225,9,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.8
$GPS2,205938,4745.791,-12249.167,30,1.4,30,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL3
$TGT_LATLONG,4746.300,-12249.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.026,0.257
$KALMAN_X,23258.5,-4.8,21.6,-18561.8,-1.3
$KALMAN_Y,14051.0,-46.4,73.2,-2951.5,36.5
$MHEAD_RNG_PITCHd_Wd,347.4,947,-14.5,-9.048
$D_GRID,168
$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,-72.68,0.000,2,0.000,0.000,368,2136,3492
$GC,102,-1.03,-117.3,2.1,-5.1,12,134,11.25,2.42,-15.27,0.000,4,0.149,0.062,2381,3488,3963
$GC,384,-1.03,-117.3,25.9,-7.5,49,391,0.00,2.40,0.00,0.000,6,0.000,0.034,2379,2094,3964
$GC,581,-1.03,-117.3,38.5,-6.6,65,585,0.00,2.42,0.00,0.000,4,0.000,0.049,2381,3477,3965
$GC,825,-1.03,-117.3,55.5,-7.4,83,829,0.00,2.35,0.00,0.000,6,0.000,0.035,2381,2098,3965
$GC,1023,-1.03,-117.3,68.0,-6.3,98,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2098,3966
$GC,1213,-1.03,-117.3,79.9,-6.3,113,1217,0.00,2.92,0.00,0.000,4,0.000,0.054,2381,688,3966
$GC,1265,-1.03,-117.3,83.8,-7.6,117,1270,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2078,3965
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1446,begin apogee
$GC,1452,-0.31,0.0,95.1,5.8,131,1546,0.77,0.00,90.72,0.739,6,0.084,0.000,2538,1885,3484
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1550,1.03,117.3,97.2,0.0,139,1648,1.38,2.92,88.57,0.717,4,0.066,0.057,2831,482,3005
$GC,1682,1.03,117.3,87.8,10.5,149,1689,0.00,2.78,0.00,0.000,6,0.000,0.029,2831,1891,3005
$GC,1878,1.03,117.3,69.6,9.4,165,1883,0.00,2.58,0.00,0.000,4,0.000,0.045,2831,3303,3005
$GC,1903,1.03,117.3,67.2,9.6,166,1910,0.00,2.55,0.00,0.000,6,0.000,0.040,2831,1901,3004
$GC,2100,1.05,132.0,49.7,8.6,182,2116,0.00,2.95,10.60,0.723,4,0.000,0.059,2831,469,2945
$GC,2144,1.05,132.0,45.6,9.7,185,2151,0.00,2.75,0.00,0.000,6,0.000,0.029,2831,1893,2945
$GC,2340,1.07,148.8,28.6,8.5,201,2358,0.00,2.58,12.40,0.713,4,0.000,0.044,2831,3295,2877
$GC,2377,1.07,148.8,25.4,9.1,203,2384,0.00,2.58,0.00,0.000,6,0.000,0.038,2831,1879,2876
$GC,2580,1.21,283.4,10.9,4.7,229,2660,0.17,0.00,76.80,0.665,2,0.046,0.000,2879,1879,2456
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.3,1.013731
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2757,47.58,0.649,0,0,2056,350.04
$SM_GC,0.92,0.00,0.00,47.58,0.000,0.000,0.649,368,2111,2056,-10.31,0.31,350.04
$IRIDIUM_FIX,4729.30,-12249.89,041007,000048
$TT8_MAMPS,0.026078
$HUMID,2128
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,24.0,28.376
$10V_AH,10.2,10.185
$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,24.925,37.875,279.100,47.575,0.000,37.246,47.293,265.263,1.750,0.000,0.000,31.689,472.486,1465.110,397.278,485.245,482.640,33.332,694.264,0.000,459.129,0.000,7.074
$DEVICE_MAMPS,148.798,62.127,738.621,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6457,253
$CFSIZE,260034560,248365056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,214833,4746.030,-12249.004,11,1.3,11,18.3