version: 66.02
glider: 23
mission: 2
dive: 336
start: 10 3 107 5 7 31
data:
$ID,23
$MISSION,2
$DIVE,336
$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,-28305.162
$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,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
$GPS1,050127,4741.178,-12251.171,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.5
$GPS2,050607,4741.199,-12251.170,9,1.3,25,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.074,0.248
$KALMAN_X,22200.6,382.7,54.2,-20423.1,-39.0
$KALMAN_Y,14195.5,268.1,35.5,-11876.4,-37.8
$MHEAD_RNG_PITCHd_Wd,358.3,3049,-14.5,-9.048
$D_GRID,103
$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,-73.15,0.000,2,0.000,0.000,364,2122,3513
$GC,102,-1.03,-117.3,2.2,-4.8,12,134,11.30,2.45,-14.80,0.000,4,0.149,0.061,2381,3497,3963
$GC,384,-1.03,-117.3,26.5,-6.8,48,391,0.00,2.42,0.00,0.000,6,0.000,0.034,2381,2084,3964
$GC,580,-1.03,-117.3,39.4,-6.8,64,585,0.00,2.47,0.00,0.000,4,0.000,0.049,2381,3507,3964
$GC,759,-1.03,-117.3,52.1,-7.0,77,763,0.00,2.38,0.00,0.000,6,0.000,0.035,2381,2102,3964
$GC,954,-1.03,-117.3,65.6,-6.8,92,958,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,3507,3964
$GC,1006,-1.03,-117.3,69.4,-7.2,95,1013,0.00,2.38,0.00,0.000,6,0.000,0.035,2381,2102,3964
$GC,1202,-1.03,-117.3,82.4,-6.1,111,1207,0.00,2.95,0.00,0.000,4,0.000,0.052,2381,686,3965
$GC,1241,-1.03,-117.3,85.0,-6.7,113,1248,0.00,2.83,0.00,0.000,6,0.000,0.031,2381,2090,3964
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1404,-0.31,0.0,95.3,6.8,126,1499,0.75,0.00,91.28,0.742,6,0.088,0.000,2537,1881,3484
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1503,1.03,117.3,97.3,0.0,134,1596,1.40,0.00,89.12,0.722,6,0.068,0.000,2833,1881,3005
$GC,1784,1.06,145.5,76.1,8.1,157,1812,0.00,3.00,20.95,0.725,4,0.000,0.058,2833,469,2889
$GC,1852,1.06,145.5,69.1,10.8,162,1859,0.00,2.80,0.00,0.000,6,0.000,0.028,2833,1891,2889
$GC,2049,1.06,145.5,49.8,10.1,178,2053,0.00,2.55,0.00,0.000,4,0.000,0.045,2833,3305,2889
$GC,2081,1.06,145.5,46.6,9.6,180,2086,0.00,2.53,0.00,0.000,6,0.000,0.041,2833,1902,2889
$GC,2277,1.06,145.5,28.7,9.1,195,2281,0.00,2.92,0.00,0.000,4,0.000,0.061,2833,469,2888
$GC,2349,1.06,145.5,22.0,9.9,200,2353,0.00,2.75,0.00,0.000,6,0.000,0.029,2833,1895,2888
$GC,2553,1.15,223.0,6.7,6.6,228,2578,0.12,0.00,22.85,0.687,2,0.055,0.000,2867,1899,2763
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,0.1,1.015253
$STATE,2657,end surface coast,CONTROL_FINISHED_OK
$STATE,2657,begin surface
$SM_CCo,2679,82.22,0.654,0,0,2057,350.04
$SM_GC,0.71,0.00,0.00,82.22,0.000,0.000,0.654,364,2116,2057,-10.33,0.45,350.04
$IRIDIUM_FIX,4722.92,-12249.11,031007,080817
$TT8_MAMPS,0.026845
$HUMID,2128
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.1,31.8
$24V_AH,24.0,27.060
$10V_AH,10.2,9.796
$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,24.875,37.725,224.200,82.225,0.000,38.647,40.646,98.264,1.500,0.000,0.000,26.951,473.995,1449.221,399.462,458.637,307.835,33.355,672.660,0.000,439.522,0.000,5.541
$DEVICE_MAMPS,148.798,61.360,742.456,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6438,244
$CFSIZE,260034560,248786944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,055426,4741.397,-12250.908,9,1.4,9,18.3