version: 66.02
glider: 23
mission: 2
dive: 346
start: 10 3 107 14 33 19
data:
$ID,23
$MISSION,2
$DIVE,346
$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,-28281.859
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,142652,4743.524,-12250.104,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-59.6
$GPS2,143157,4743.518,-12250.096,12,1.8,12,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.089,0.243
$KALMAN_X,22952.3,101.9,35.3,-19533.3,-32.9
$KALMAN_Y,13735.3,-114.8,-7.3,-6693.8,-8.7
$MHEAD_RNG_PITCHd_Wd,1.9,2097,-14.5,-9.048
$D_GRID,169
$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,-117.3,0.0,0.0,0,172,0.00,0.00,-145.52,0.000,2,0.000,0.000,366,2126,3612
$GC,175,-1.03,-117.3,2.2,-4.8,24,206,11.32,3.05,-10.50,0.000,4,0.151,0.060,2378,698,3966
$GC,443,-1.03,-117.3,24.9,-7.3,60,450,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2088,3971
$GC,640,-1.03,-117.3,37.8,-6.7,76,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2087,3972
$GC,830,-1.03,-117.3,51.1,-7.4,91,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2087,3973
$GC,1020,-1.03,-117.3,63.5,-6.0,106,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2088,3973
$GC,1210,-1.03,-117.3,76.0,-6.6,121,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2088,3973
$GC,1396,-1.03,-117.3,89.1,-7.2,136,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2088,3973
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1488,-0.31,0.0,95.4,7.0,143,1609,0.80,0.00,106.88,0.709,6,0.086,0.000,2540,1879,3485
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1615,1.03,117.3,97.9,0.0,153,1709,1.38,0.00,89.97,0.717,6,0.067,0.000,2832,1879,3005
$GC,1895,1.04,124.7,77.2,8.8,176,1906,0.00,0.00,5.30,0.747,6,0.000,0.000,2832,1879,2975
$GC,2096,1.05,130.5,59.0,8.9,192,2108,0.00,2.92,3.88,0.751,4,0.000,0.058,2832,482,2953
$GC,2140,1.05,130.5,54.6,9.3,195,2147,0.00,2.75,0.00,0.000,6,0.000,0.030,2832,1901,2955
$GC,2337,1.06,143.1,37.6,8.6,211,2349,0.00,0.00,9.55,0.723,6,0.000,0.000,2833,1903,2900
$GC,2538,1.07,151.8,19.7,8.8,227,2551,0.00,2.95,5.80,0.729,4,0.000,0.058,2832,478,2866
$GC,2610,1.07,151.8,13.1,9.3,238,2617,0.00,2.72,0.00,0.000,6,0.000,0.030,2832,1891,2868
$GC,2683,1.18,253.5,8.0,5.8,249,2727,0.15,0.00,40.85,0.681,2,0.051,0.000,2876,1894,2641
$STATE,2728,end climb,SURFACE_DEPTH_REACHED
$STATE,2728,begin surface coast
$FINISH,0.1,1.007957
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2821,68.97,0.647,0,0,2057,350.04
$SM_GC,0.77,0.00,0.00,68.97,0.000,0.000,0.647,368,2125,2057,-10.31,0.71,350.04
$IRIDIUM_FIX,4726.11,-12250.84,031007,171752
$TT8_MAMPS,0.026845
$HUMID,2149
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.0,27.838
$10V_AH,10.2,10.026
$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,25.050,18.050,262.225,68.975,0.000,37.328,45.138,130.875,1.500,0.000,0.000,14.179,468.225,1526.512,475.661,422.033,347.506,33.335,745.953,0.000,416.568,0.000,7.063
$DEVICE_MAMPS,151.099,59.826,750.893,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6454,267
$CFSIZE,260034560,248541184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031007,152237,4743.806,-12249.897,6,1.6,23,18.3