version: 66.02
glider: 23
mission: 2
dive: 345
start: 10 3 107 13 33 57
data:
$ID,23
$MISSION,2
$DIVE,345
$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,712.3512
$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,-28294.926
$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,25
$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
$GPS1,131707,4743.274,-12250.286,13,1.3,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.3
$GPS2,133233,4743.246,-12250.294,12,1.4,12,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.101,0.238
$KALMAN_X,22896.6,140.7,30.8,-19758.2,-41.1
$KALMAN_Y,13746.6,-87.6,-46.5,-7195.8,-7.5
$MHEAD_RNG_PITCHd_Wd,4.6,2653,-14.5,-9.048
$D_GRID,166
$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,-78.65,0.000,2,0.000,0.000,365,2106,3633
$GC,108,-1.03,-117.3,2.2,-4.9,13,139,11.30,3.00,-10.15,0.000,4,0.150,0.058,2382,690,3963
$GC,390,-1.03,-117.3,24.8,-6.4,50,396,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2110,3965
$GC,586,-1.03,-117.3,36.1,-5.9,66,591,0.00,2.97,0.00,0.000,4,0.000,0.048,2381,678,3964
$GC,611,-1.03,-117.3,37.8,-6.6,67,618,0.00,2.88,0.00,0.000,6,0.000,0.031,2381,2111,3965
$GC,807,-1.03,-117.3,49.8,-6.5,83,812,0.00,2.42,0.00,0.000,4,0.000,0.051,2381,3506,3966
$GC,834,-1.03,-117.3,51.5,-6.4,85,838,0.00,2.40,0.00,0.000,6,0.000,0.034,2381,2091,3966
$GC,1029,-1.03,-117.3,63.7,-6.1,100,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2091,3966
$GC,1221,-1.03,-117.3,75.2,-6.1,115,1225,0.00,2.92,0.00,0.000,4,0.000,0.051,2381,684,3966
$GC,1253,-1.03,-117.3,77.5,-6.9,117,1258,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2105,3965
$GC,1449,-1.03,-117.3,89.7,-6.0,132,1456,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,3514,3966
$GC,1490,-1.03,-117.3,92.5,-7.1,135,1494,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2097,3967
$STATE,1531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1531,begin apogee
$GC,1538,-0.31,0.0,95.5,6.5,138,1633,0.77,0.00,91.32,0.740,6,0.088,0.000,2537,1884,3484
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1634,begin climb
$GC,1636,1.03,117.3,97.1,0.0,146,1730,1.40,0.00,89.22,0.720,6,0.071,0.000,2832,1884,3005
$GC,1917,1.03,117.3,74.9,9.2,169,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1884,3004
$GC,2107,1.05,129.5,58.0,8.7,184,2123,0.00,2.95,8.95,0.732,4,0.000,0.059,2832,491,2953
$GC,2164,1.05,129.5,52.2,9.9,188,2171,0.00,2.75,0.00,0.000,6,0.000,0.028,2832,1893,2954
$GC,2360,1.05,129.5,34.5,9.1,204,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1895,2954
$GC,2553,1.08,159.3,18.0,8.1,220,2583,0.00,2.97,21.67,0.693,4,0.000,0.057,2832,488,2833
$GC,2639,1.09,169.0,10.7,8.7,233,2652,0.00,2.72,7.35,0.713,6,0.000,0.030,2832,1891,2794
$GC,2721,1.17,238.4,5.0,6.8,245,2728,0.15,0.00,5.00,0.723,2,0.051,0.000,2871,1893,2765
$STATE,2729,end climb,SURFACE_DEPTH_REACHED
$STATE,2729,begin surface coast
$FINISH,0.2,1.002458
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2836,257.38,0.623,1,0,580,712.35
$SM_GC,0.66,0.00,0.00,257.38,0.000,0.000,0.623,365,2127,580,-10.33,0.76,712.35
$IRIDIUM_FIX,4726.11,-12248.15,031007,171758
$TT8_MAMPS,0.026845
$HUMID,2096
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,27.761
$10V_AH,10.2,10.003
$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,24.950,39.425,223.525,257.375,0.000,192.979,401.062,0.000,2.750,0.000,0.000,13.842,496.943,1814.839,588.564,435.401,736.512,33.331,863.384,0.000,429.541,0.000,7.083
$DEVICE_MAMPS,150.332,59.059,740.155,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6450,259
$CFSIZE,260034560,248553472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,142652,4743.524,-12250.104,12,2.3,31,18.3