version: 66.02
glider: 23
mission: 2
dive: 356
start: 10 3 107 23 55 36
data:
$ID,23
$MISSION,2
$DIVE,356
$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,-1
$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,-28289.473
$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,29
$R_STBD_OVSHOOT,53
$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
$GPS1,234855,4746.369,-12249.582,31,1.4,36,18.3
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.6
$GPS2,235421,4746.387,-12249.575,13,1.4,13,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,-0.083
$KALMAN_X,23408.7,18.6,16.6,-19235.8,14.9
$KALMAN_Y,14215.9,48.3,22.7,-2054.7,33.0
$MHEAD_RNG_PITCHd_Wd,232.9,875,-14.5,-9.048
$D_GRID,160
$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,25,-1.03,-117.3,0.0,0.0,0,104,0.00,0.00,-76.85,0.000,2,0.000,0.000,363,2126,3590
$GC,108,-1.03,-117.3,2.2,-5.0,13,139,11.30,3.03,-11.45,0.000,4,0.149,0.059,2381,692,3963
$GC,198,-1.03,-117.3,10.6,-9.8,27,205,0.00,2.83,0.00,0.000,6,0.000,0.031,2381,2089,3964
$GC,271,-1.03,-117.3,17.6,-9.8,38,277,0.00,2.47,0.00,0.000,4,0.000,0.048,2381,3511,3965
$GC,337,-1.03,-117.3,22.5,-7.0,46,341,0.00,2.40,0.00,0.000,6,0.000,0.033,2381,2097,3965
$GC,533,-1.03,-117.3,35.1,-6.4,61,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2097,3965
$GC,725,-1.03,-117.3,47.6,-6.7,76,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2097,3966
$GC,913,-1.03,-117.3,59.9,-6.6,91,918,0.00,2.92,0.00,0.000,4,0.000,0.051,2381,686,3965
$GC,946,-1.03,-117.3,62.3,-7.0,93,951,0.00,2.85,0.00,0.000,6,0.000,0.030,2381,2109,3966
$GC,1142,-1.03,-117.3,75.3,-6.6,108,1146,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,3517,3966
$GC,1195,-1.03,-117.3,79.1,-7.4,112,1199,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2099,3966
$GC,1398,-1.03,-117.3,92.0,-6.0,128,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2099,3966
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1451,-0.31,0.0,95.1,6.2,132,1546,0.77,0.00,90.65,0.742,6,0.084,0.000,2538,1876,3484
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,1.03,117.3,96.7,0.0,140,1646,1.38,0.00,88.57,0.720,6,0.066,0.000,2831,1876,3004
$GC,1836,1.05,128.2,74.9,8.7,163,1847,0.00,0.00,7.75,0.743,6,0.000,0.000,2831,1876,2961
$GC,2037,1.05,135.3,57.1,8.8,179,2048,0.00,0.00,5.05,0.756,6,0.000,0.000,2831,1876,2932
$GC,2238,1.07,149.9,39.5,8.6,195,2254,0.00,2.88,10.82,0.723,4,0.000,0.059,2830,485,2872
$GC,2282,1.07,149.9,35.2,9.7,198,2289,0.00,2.75,0.00,0.000,6,0.000,0.028,2830,1895,2873
$GC,2479,1.07,151.9,17.8,9.0,215,2485,0.00,2.88,0.00,0.000,4,0.000,0.057,2831,482,2872
$GC,2532,1.12,199.9,13.7,7.5,223,2576,0.12,2.72,37.00,0.682,6,0.050,0.030,2862,1898,2668
$STATE,2639,end climb,SURFACE_DEPTH_REACHED
$STATE,2639,begin surface coast
$FINISH,0.2,1.011196
$STATE,2713,end surface coast,CONTROL_FINISHED_OK
$STATE,2713,begin surface
$SM_CCo,2735,71.82,0.654,0,0,2057,350.04
$SM_GC,0.82,0.00,0.00,71.82,0.000,0.000,0.654,363,2112,2057,-10.34,0.34,350.04
$IRIDIUM_FIX,4729.30,-12248.15,041007,020258
$TT8_MAMPS,0.026845
$HUMID,2128
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.8,999.0
$24V_AH,24.0,28.625
$10V_AH,10.2,10.257
$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,24.875,33.450,239.850,71.825,0.000,37.929,31.611,165.872,1.500,0.000,0.000,14.701,476.053,1508.804,402.638,417.594,365.840,33.336,670.532,0.000,409.665,0.000,7.061
$DEVICE_MAMPS,148.798,59.059,756.262,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6438,251
$CFSIZE,260034560,248291328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,004320,4746.290,-12250.005,12,1.6,12,18.3