version: 66.02
glider: 23
mission: 2
dive: 304
start: 10 1 107 23 26 59
data:
$ID,23
$MISSION,2
$DIVE,304
$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,-28397.99
$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,20
$R_STBD_OVSHOOT,32
$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
$GPS1,232101,4739.446,-12252.878,39,1.1,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.8
$GPS2,232535,4739.473,-12252.863,9,2.2,28,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.258,0.015
$KALMAN_X,17004.6,146.8,155.1,-17200.3,-73.5
$KALMAN_Y,9627.1,31.1,-11.3,-10220.3,-40.4
$MHEAD_RNG_PITCHd_Wd,68.3,576,-14.5,-9.048
$D_GRID,122
$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,-1.03,-117.3,0.0,0.0,0,91,0.00,0.00,-67.20,0.000,2,0.000,0.000,368,2135,3402
$GC,95,-1.03,-117.3,2.1,-4.5,11,132,11.25,2.45,-18.75,0.000,4,0.149,0.062,2378,3531,3963
$GC,383,-1.03,-117.3,25.3,-7.5,50,387,0.00,2.40,0.00,0.000,6,0.000,0.035,2378,2128,3964
$GC,579,-1.03,-117.3,39.5,-7.3,65,583,0.00,2.95,0.00,0.000,4,0.000,0.054,2378,707,3964
$GC,643,-1.03,-117.3,44.5,-7.7,69,650,0.00,2.85,0.00,0.000,6,0.000,0.031,2378,2137,3965
$GC,840,-1.03,-117.3,58.0,-6.9,85,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2135,3965
$GC,1031,-1.03,-117.3,70.9,-6.8,100,1035,0.00,2.45,0.00,0.000,4,0.000,0.052,2378,3539,3965
$GC,1109,-1.03,-117.3,77.3,-7.9,105,1116,0.00,2.40,0.00,0.000,6,0.000,0.036,2378,2130,3966
$GC,1305,-1.03,-117.3,91.7,-7.5,121,1310,0.00,2.92,0.00,0.000,4,0.000,0.053,2378,716,3966
$STATE,1349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1349,begin apogee
$GC,1357,-0.31,0.0,95.2,7.6,124,1451,0.75,0.00,90.62,0.744,6,0.084,0.000,2534,1771,3484
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1454,1.03,117.3,97.7,0.0,132,1547,1.40,0.00,88.35,0.729,6,0.067,0.000,2831,1771,3005
$GC,1735,1.04,119.0,76.9,9.0,155,1739,0.00,2.60,0.00,0.000,4,0.000,0.044,2831,3159,3005
$GC,1767,1.04,119.0,73.9,9.3,157,1771,0.00,2.65,0.00,0.000,6,0.000,0.041,2831,1739,3004
$GC,1963,1.06,140.6,56.7,8.4,172,1987,0.00,2.67,16.92,0.729,4,0.000,0.042,2831,3147,2909
$GC,2068,1.06,140.6,47.4,9.4,180,2072,0.00,2.62,0.00,0.000,6,0.000,0.041,2831,1752,2909
$GC,2263,1.07,148.3,29.8,8.8,195,2275,0.00,0.00,5.65,0.743,6,0.000,0.000,2832,1752,2878
$GC,2469,1.09,173.2,12.3,8.2,218,2494,0.00,2.65,18.33,0.694,4,0.000,0.041,2831,3150,2776
$GC,2514,1.17,240.1,8.8,6.9,225,2564,0.15,2.65,44.15,0.672,2,0.049,0.041,2868,1739,2534
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,3.1,1.022137
$STATE,2583,end surface coast,CONTROL_FINISHED_OK
$STATE,2583,begin surface
$SM_CCo,2606,59.05,0.657,1,0,2056,350.04
$SM_GC,0.81,0.00,0.00,59.05,0.000,0.000,0.657,368,2141,2056,-10.31,0.31,350.04
$IRIDIUM_FIX,4722.92,-12253.53,021007,020204
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.7,28.4
$24V_AH,24.0,24.627
$10V_AH,10.2,8.977
$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,25.175,37.175,264.025,59.050,0.000,40.774,35.662,94.638,2.500,0.000,0.000,31.265,450.483,1398.044,414.944,438.336,289.276,33.330,680.817,0.000,411.430,0.000,10.049
$DEVICE_MAMPS,148.798,62.127,743.990,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6445,236
$CFSIZE,260034560,249647104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,001221,4739.460,-12252.507,8,1.9,8,18.3