version: 66.02
glider: 23
mission: 2
dive: 341
start: 10 3 107 9 38 1
data:
$ID,23
$MISSION,2
$DIVE,341
$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,-28325.477
$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,26
$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
$GPS1,093217,4742.373,-12250.597,9,5.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.2
$GPS2,093637,4742.351,-12250.622,14,1.4,30,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL1
$TGT_LATLONG,4742.800,-12250.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.005,0.258
$KALMAN_X,22819.3,301.8,-21.7,-20198.1,6.9
$KALMAN_Y,14033.3,99.1,-143.6,-9229.2,-34.0
$MHEAD_RNG_PITCHd_Wd,342.8,831,-14.5,-9.048
$D_GRID,145
$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,-73.20,0.000,2,0.000,0.000,369,2106,3514
$GC,102,-1.03,-117.3,2.0,-4.5,12,139,11.25,2.50,-16.00,0.000,4,0.149,0.061,2377,3510,3963
$GC,377,-1.03,-117.3,23.5,-6.2,50,381,0.00,2.42,0.00,0.000,6,0.000,0.034,2377,2082,3964
$GC,573,-1.03,-117.3,35.5,-6.0,65,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2083,3965
$GC,766,-1.03,-117.3,46.9,-6.0,80,770,0.00,2.50,0.00,0.000,4,0.000,0.048,2378,3519,3964
$GC,830,-1.03,-117.3,51.5,-7.1,84,837,0.00,2.42,0.00,0.000,6,0.000,0.035,2377,2104,3965
$GC,1027,-1.03,-117.3,63.8,-6.1,100,1032,0.00,2.95,0.00,0.000,4,0.000,0.052,2377,685,3964
$GC,1065,-1.03,-117.3,66.5,-6.9,102,1072,0.00,2.85,0.00,0.000,6,0.000,0.031,2377,2101,3964
$GC,1262,-1.03,-117.3,78.4,-6.0,118,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2100,3964
$GC,1452,-1.03,-117.3,90.3,-6.3,133,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2100,3964
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1524,begin apogee
$GC,1531,-0.31,0.0,95.2,6.4,139,1625,0.80,0.00,91.10,0.746,6,0.087,0.000,2539,1878,3484
$STATE,1626,end apogee,CONTROL_FINISHED_OK
$STATE,1626,begin climb
$GC,1629,1.03,117.3,96.9,0.0,147,1727,1.40,2.92,88.60,0.725,4,0.071,0.057,2833,482,3005
$GC,1755,1.03,117.3,88.5,9.4,157,1760,0.00,2.75,0.00,0.000,6,0.000,0.029,2833,1895,3005
$GC,1950,1.03,117.3,70.0,9.3,172,1955,0.00,2.55,0.00,0.000,4,0.000,0.044,2833,3306,3004
$GC,1997,1.03,117.3,65.6,9.7,175,2001,0.00,2.55,0.00,0.000,6,0.000,0.040,2833,1899,3003
$GC,2192,1.03,117.3,47.8,9.1,190,2197,0.00,2.90,0.00,0.000,4,0.000,0.061,2834,476,3003
$GC,2238,1.03,117.3,43.2,10.3,193,2243,0.00,2.72,0.00,0.000,6,0.000,0.028,2833,1890,3003
$GC,2434,1.03,117.3,25.3,9.1,208,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1893,3003
$GC,2629,1.12,194.6,9.9,6.6,233,2696,0.00,2.62,57.60,0.675,4,0.000,0.044,2833,3294,2689
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,3.7,1.022159
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2722,begin surface
$SM_CCo,2745,77.43,0.655,1,0,2057,350.04
$SM_GC,0.87,0.00,0.00,77.43,0.000,0.000,0.655,365,2087,2057,-10.33,-0.34,350.04
$IRIDIUM_FIX,4722.92,-12249.11,031007,121230
$TT8_MAMPS,0.026845
$HUMID,2145
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,999.0
$24V_AH,24.0,27.413
$10V_AH,10.2,9.905
$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,24.900,37.275,237.300,77.425,0.000,38.148,31.721,83.514,1.000,0.000,0.000,32.296,470.465,1520.647,403.078,453.416,287.128,33.357,681.153,0.000,428.873,0.000,7.064
$DEVICE_MAMPS,148.798,60.593,746.291,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6461,248
$CFSIZE,260034560,248664064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,102603,4742.594,-12250.592,10,1.8,10,18.3