version: 66.02
glider: 23
mission: 2
dive: 300
start: 10 1 107 19 52 3
data:
$ID,23
$MISSION,2
$DIVE,300
$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,-28377.504
$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,2130
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,47
$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,720
$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,2
$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
$GPS1,194239,4739.512,-12252.288,9,1.2,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.5
$GPS2,195039,4739.547,-12252.167,14,1.2,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.229,-0.096
$KALMAN_X,16881.6,214.2,59.5,-16183.9,116.5
$KALMAN_Y,9681.5,35.1,75.8,-10227.5,22.0
$MHEAD_RNG_PITCHd_Wd,229.0,328,-15.3,-9.048
$D_GRID,124
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.09,-117.3,0.0,0.0,0,91,0.00,0.00,-67.22,0.000,2,0.000,0.000,365,2153,3452
$GC,95,-1.09,-117.3,2.1,-3.8,11,132,11.18,3.03,-16.95,0.000,4,0.147,0.057,2370,711,3964
$GC,145,-1.09,-117.3,4.7,-4.6,19,152,0.00,2.83,0.00,0.000,6,0.000,0.031,2370,2118,3964
$GC,218,-1.09,-117.3,9.5,-6.7,30,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2118,3965
$GC,290,-1.09,-117.3,15.4,-8.8,41,296,0.00,2.47,0.00,0.000,4,0.000,0.050,2370,3543,3966
$GC,461,-1.09,-117.3,30.2,-8.3,59,465,0.00,2.42,0.00,0.000,6,0.000,0.035,2370,2116,3966
$GC,657,-1.09,-117.3,44.4,-7.2,74,661,0.00,2.90,0.00,0.000,4,0.000,0.054,2370,721,3967
$GC,682,-1.09,-117.3,46.4,-7.8,75,689,0.00,2.83,0.00,0.000,6,0.000,0.031,2370,2131,3966
$GC,878,-1.09,-117.3,62.1,-8.2,91,883,0.00,2.95,0.00,0.000,4,0.000,0.052,2370,719,3967
$GC,916,-1.09,-117.3,65.3,-8.5,93,923,0.00,2.85,0.00,0.000,6,0.000,0.031,2370,2141,3967
$GC,1113,-1.09,-117.3,80.8,-7.5,109,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2140,3967
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1306,-0.31,0.0,95.7,7.6,124,1400,0.82,0.00,90.88,0.742,6,0.087,0.000,2537,1740,3484
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1401,begin climb
$GC,1404,1.09,117.3,98.2,0.0,132,1497,1.45,0.00,88.78,0.720,6,0.072,0.000,2841,1740,3005
$GC,1684,1.10,135.1,77.4,8.4,155,1702,0.00,2.70,12.85,0.735,4,0.000,0.041,2841,3173,2933
$GC,1761,1.10,135.1,70.1,9.5,160,1768,0.00,2.67,0.00,0.000,6,0.000,0.041,2841,1742,2932
$GC,1957,1.10,135.1,52.1,9.1,176,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1742,2932
$GC,2149,1.11,138.1,34.6,8.9,191,2155,0.00,2.70,1.92,0.796,4,0.000,0.041,2841,3164,2921
$GC,2213,1.11,138.1,28.1,9.6,195,2221,0.00,2.67,0.00,0.000,6,0.000,0.041,2841,1747,2921
$GC,2415,1.16,186.8,11.6,7.3,219,2458,0.00,2.67,36.45,0.680,4,0.000,0.041,2841,3163,2721
$STATE,2497,end climb,SURFACE_DEPTH_REACHED
$STATE,2498,begin surface coast
$FINISH,0.2,1.010625
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2569,begin surface
$SM_CCo,2592,79.28,0.653,0,0,2056,350.04
$SM_GC,0.98,0.00,0.00,79.28,0.000,0.000,0.653,368,2113,2056,-10.31,-0.48,350.04
$IRIDIUM_FIX,4722.92,-12253.53,011007,232315
$TT8_MAMPS,0.026845
$HUMID,2136
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.9,28.4
$24V_AH,24.0,24.327
$10V_AH,10.2,8.888
$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,24.700,38.400,230.875,79.275,0.000,77.087,67.187,181.476,1.500,0.000,0.000,15.691,465.371,1448.822,406.389,425.397,453.179,33.328,673.562,0.000,416.085,0.000,10.049
$DEVICE_MAMPS,147.264,56.758,796.146,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6467,243
$CFSIZE,260034560,249741312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,203727,4739.399,-12252.460,8,1.4,8,18.3