version: 66.02
glider: 23
mission: 2
dive: 337
start: 10 3 107 6 0 21
data:
$ID,23
$MISSION,2
$DIVE,337
$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,-28300.852
$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
$GPS1,055426,4741.397,-12250.908,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.2
$GPS2,055857,4741.414,-12250.888,14,1.5,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.024,0.257
$KALMAN_X,22421.3,375.7,-1.2,-20230.5,20.8
$KALMAN_Y,14181.1,242.5,-30.6,-11369.0,-38.7
$MHEAD_RNG_PITCHd_Wd,347.0,2592,-14.5,-9.048
$D_GRID,117
$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,-73.35,0.000,2,0.000,0.000,364,2116,3528
$GC,102,-1.03,-117.3,2.2,-4.8,12,133,11.38,2.40,-13.50,0.000,4,0.152,0.061,2382,3494,3963
$GC,384,-1.03,-117.3,26.4,-6.3,48,391,0.00,2.40,0.00,0.000,6,0.000,0.034,2382,2096,3964
$GC,580,-1.03,-117.3,38.4,-5.9,64,584,0.00,2.42,0.00,0.000,4,0.000,0.049,2382,3494,3964
$GC,605,-1.03,-117.3,40.1,-6.4,65,612,0.00,2.40,0.00,0.000,6,0.000,0.035,2382,2096,3964
$GC,802,-1.03,-117.3,51.5,-6.0,81,806,0.00,2.45,0.00,0.000,4,0.000,0.050,2382,3501,3965
$GC,848,-1.03,-117.3,54.3,-5.9,84,852,0.00,2.38,0.00,0.000,6,0.000,0.035,2382,2100,3965
$GC,1043,-1.03,-117.3,65.8,-5.7,99,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2101,3965
$GC,1234,-1.03,-117.3,76.9,-6.0,114,1239,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3502,3965
$GC,1286,-1.03,-117.3,81.0,-8.0,117,1293,0.00,2.38,0.00,0.000,6,0.000,0.035,2382,2099,3965
$GC,1483,-1.03,-117.3,94.9,-7.1,133,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2101,3966
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1499,-0.31,0.0,95.7,7.2,134,1593,0.77,0.00,91.05,0.748,6,0.090,0.000,2537,1876,3484
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,1.03,117.3,97.4,0.0,142,1693,1.40,0.00,88.95,0.722,6,0.071,0.000,2832,1876,3004
$GC,1883,1.03,117.3,73.4,9.5,165,1887,0.00,2.88,0.00,0.000,4,0.000,0.061,2832,475,3003
$GC,1922,1.03,117.3,69.3,10.9,167,1928,0.00,2.72,0.00,0.000,6,0.000,0.028,2832,1886,3003
$GC,2117,1.03,117.3,50.6,9.4,183,2121,0.00,2.55,0.00,0.000,4,0.000,0.045,2832,3301,3003
$GC,2163,1.03,117.3,46.2,10.0,186,2167,0.00,2.55,0.00,0.000,6,0.000,0.041,2832,1888,3003
$GC,2358,1.05,136.4,28.9,8.4,201,2378,0.00,3.00,13.75,0.709,4,0.000,0.061,2832,467,2927
$GC,2436,1.05,136.4,21.2,9.9,206,2443,0.00,2.78,0.00,0.000,6,0.000,0.029,2832,1886,2927
$GC,2643,1.15,226.7,6.5,6.1,236,2668,0.12,0.00,22.88,0.688,2,0.053,0.000,2866,1889,2801
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,0.1,1.015790
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2782,86.60,0.652,0,0,2057,350.04
$SM_GC,0.85,0.00,0.00,86.60,0.000,0.000,0.652,367,2119,2057,-10.32,0.57,350.04
$IRIDIUM_FIX,4722.92,-12251.79,031007,090911
$TT8_MAMPS,0.026845
$HUMID,2146
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.4,29.5
$24V_AH,24.0,27.130
$10V_AH,10.2,9.818
$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,25.000,36.650,216.625,86.600,0.000,39.744,41.965,98.725,1.500,0.000,0.000,16.253,493.567,1528.928,395.675,457.590,311.701,33.324,676.416,0.000,444.574,0.000,10.053
$DEVICE_MAMPS,151.866,61.360,747.825,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6425,254
$CFSIZE,260034560,248762368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,064923,4741.625,-12250.737,9,2.2,28,18.3