version: 66.02
glider: 23
mission: 2
dive: 344
start: 10 3 107 12 28 55
data:
$ID,23
$MISSION,2
$DIVE,344
$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,-28305.033
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,121541,4743.041,-12250.436,9,4.2,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.0
$GPS2,122733,4743.008,-12250.461,11,1.8,11,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.096,0.240
$KALMAN_X,22871.6,179.1,17.0,-19964.8,-27.4
$KALMAN_Y,13796.4,-46.0,-80.1,-7694.2,-27.5
$MHEAD_RNG_PITCHd_Wd,3.4,3138,-14.5,-9.048
$D_GRID,164
$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,-117.3,0.0,0.0,0,104,0.00,0.00,-78.82,0.000,2,0.000,0.000,368,2123,3637
$GC,108,-1.03,-117.3,2.1,-4.5,13,139,11.30,3.03,-10.20,0.000,4,0.150,0.059,2380,703,3964
$GC,384,-1.03,-117.3,24.3,-6.5,51,389,0.00,2.80,0.00,0.000,6,0.000,0.031,2380,2086,3965
$GC,579,-1.03,-117.3,36.5,-6.1,66,584,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,3508,3966
$GC,631,-1.03,-117.3,40.1,-7.1,69,638,0.00,2.40,0.00,0.000,6,0.000,0.034,2380,2107,3966
$GC,827,-1.03,-117.3,53.0,-6.7,85,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2107,3966
$GC,1018,-1.03,-117.3,65.1,-6.3,100,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2107,3966
$GC,1208,-1.03,-117.3,77.0,-6.0,115,1213,0.00,2.95,0.00,0.000,4,0.000,0.051,2380,678,3966
$GC,1254,-1.03,-117.3,80.0,-6.2,118,1259,0.00,2.83,0.00,0.000,6,0.000,0.030,2380,2098,3966
$GC,1457,-1.03,-117.3,92.2,-6.1,134,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2098,3965
$STATE,1504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1504,begin apogee
$GC,1511,-0.31,0.0,95.2,6.0,138,1605,0.77,0.00,91.25,0.747,6,0.087,0.000,2537,1875,3484
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1609,1.03,117.3,97.0,0.0,146,1706,1.40,2.90,88.70,0.723,4,0.070,0.056,2831,479,3005
$GC,1726,1.04,123.8,89.5,8.8,155,1737,0.00,2.75,4.93,0.759,6,0.000,0.028,2831,1894,2978
$GC,1935,1.04,123.8,69.4,9.5,172,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1896,2978
$GC,2126,1.04,123.8,51.6,9.1,187,2131,0.00,2.90,0.00,0.000,4,0.000,0.057,2832,480,2977
$GC,2172,1.04,123.8,46.9,10.1,190,2177,0.00,2.72,0.00,0.000,6,0.000,0.028,2831,1891,2977
$GC,2368,1.04,124.4,29.4,9.0,205,2372,0.00,2.55,0.00,0.000,4,0.000,0.044,2832,3300,2977
$GC,2401,1.04,124.4,26.3,9.7,207,2405,0.00,2.53,0.00,0.000,6,0.000,0.039,2832,1901,2977
$GC,2603,1.11,190.0,9.4,6.9,232,2658,0.00,2.95,49.17,0.673,4,0.000,0.058,2831,474,2708
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FINISH,1.8,1.022098
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2736,78.57,0.649,1,0,2057,350.04
$SM_GC,0.86,0.00,0.00,78.57,0.000,0.000,0.649,365,2107,2057,-10.33,0.17,350.04
$IRIDIUM_FIX,4726.11,-12257.95,031007,161626
$TT8_MAMPS,0.026078
$HUMID,2128
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,27.647
$10V_AH,10.2,9.974
$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,24.850,39.475,234.050,78.575,0.000,116.584,187.680,188.920,1.750,0.000,0.000,12.814,475.495,1635.260,396.286,435.289,634.627,33.331,674.521,0.000,428.235,0.000,7.074
$DEVICE_MAMPS,150.332,59.059,759.330,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6440,249
$CFSIZE,260034560,248586240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,131707,4743.274,-12250.286,13,1.3,28,18.3