version: 66.02
glider: 23
mission: 2
dive: 334
start: 10 3 107 3 17 3
data:
$ID,23
$MISSION,2
$DIVE,334
$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,-28307.502
$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,46
$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
$GPS1,031138,4740.557,-12251.573,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.1
$GPS2,031539,4740.587,-12251.577,12,1.5,12,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,0.255
$KALMAN_X,21891.0,390.1,187.4,-20759.3,-20.4
$KALMAN_Y,14002.1,268.0,163.7,-12942.7,-21.1
$MHEAD_RNG_PITCHd_Wd,350.8,770,-14.5,-9.048
$D_GRID,98
$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,-73.35,0.000,2,0.000,0.000,367,2127,3515
$GC,102,-1.03,-117.3,2.0,-4.4,12,139,11.23,2.42,-15.95,0.000,4,0.148,0.062,2380,3487,3963
$GC,391,-1.03,-117.3,23.3,-7.6,53,395,0.00,2.38,0.00,0.000,6,0.000,0.035,2380,2088,3964
$GC,586,-1.03,-117.3,36.5,-6.8,68,590,0.00,2.45,0.00,0.000,4,0.000,0.050,2380,3493,3964
$GC,699,-1.03,-117.3,44.3,-6.5,76,703,0.00,2.35,0.00,0.000,6,0.000,0.035,2380,2104,3964
$GC,894,-1.03,-117.3,56.9,-6.7,91,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2105,3964
$GC,1086,-1.03,-117.3,69.0,-6.2,106,1091,0.00,2.95,0.00,0.000,4,0.000,0.053,2380,689,3964
$GC,1204,-1.03,-117.3,77.5,-7.1,114,1211,0.00,2.83,0.00,0.000,6,0.000,0.031,2380,2093,3964
$GC,1401,-1.03,-117.3,89.8,-6.2,130,1405,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3510,3964
$STATE,1622,end dive,NO_VERTICAL_VELOCITY
$STATE,1622,begin apogee
$GC,1630,-0.31,0.0,94.5,0.0,146,1724,0.73,0.00,90.88,0.744,6,0.067,0.000,2537,1892,3484
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1728,1.03,117.3,94.4,0.0,154,1826,1.38,2.95,88.82,0.723,4,0.064,0.058,2830,474,3004
$GC,1868,1.04,119.4,86.5,9.0,165,1872,0.00,2.78,0.00,0.000,6,0.000,0.028,2831,1901,3004
$GC,2063,1.06,139.9,70.0,8.4,180,2088,0.00,3.00,16.42,0.726,4,0.000,0.058,2831,469,2912
$GC,2182,1.06,139.9,59.0,10.1,189,2186,0.00,2.78,0.00,0.000,6,0.000,0.029,2831,1900,2912
$GC,2378,1.06,139.9,41.3,9.2,204,2383,0.00,2.92,0.00,0.000,4,0.000,0.059,2831,482,2911
$GC,2418,1.06,139.9,37.5,9.7,206,2424,0.00,2.72,0.00,0.000,6,0.000,0.029,2829,1890,2912
$GC,2613,1.07,149.5,20.6,8.7,222,2625,0.00,0.00,7.30,0.730,6,0.000,0.000,2831,1893,2873
$GC,2824,1.19,265.0,5.7,5.3,253,2843,0.17,0.00,16.88,0.696,2,0.048,0.000,2880,1893,2778
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,0.1,1.012423
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2972,83.68,0.652,0,0,2056,350.04
$SM_GC,0.78,0.00,0.00,83.68,0.000,0.000,0.652,364,2105,2056,-10.33,0.11,350.04
$IRIDIUM_FIX,4722.92,-12253.53,031007,060656
$TT8_MAMPS,0.026845
$HUMID,2129
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,70.4,28.4
$24V_AH,24.0,26.918
$10V_AH,10.2,9.753
$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,24.875,38.275,220.300,83.675,0.000,41.074,32.151,80.471,2.000,0.000,0.000,14.293,527.922,1617.243,392.997,519.105,286.399,33.354,700.357,0.000,508.525,0.000,6.956
$DEVICE_MAMPS,148.031,62.127,743.990,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6456,272
$CFSIZE,260034560,248832000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,040937,4740.880,-12251.436,42,1.2,54,18.3