version: 66.02
glider: 23
mission: 2
dive: 357
start: 10 4 107 0 53 18
data:
$ID,23
$MISSION,2
$DIVE,357
$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,-28285.686
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,004320,4746.290,-12250.005,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.7
$GPS2,005203,4746.309,-12250.005,16,1.9,16,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,-0.106
$KALMAN_X,23387.4,24.6,16.0,-19756.0,-18.4
$KALMAN_Y,14236.5,71.2,11.0,-2230.2,40.1
$MHEAD_RNG_PITCHd_Wd,226.4,321,-15.3,-9.048
$D_GRID,158
$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,-1.09,-117.3,0.0,0.0,0,98,0.00,0.00,-72.72,0.000,2,0.000,0.000,362,2112,3489
$GC,102,-1.09,-117.3,2.1,-4.7,12,139,11.23,3.03,-16.40,0.000,4,0.149,0.058,2370,691,3963
$GC,238,-1.09,-117.3,13.8,-10.3,33,245,0.00,2.83,0.00,0.000,6,0.000,0.032,2370,2096,3965
$GC,311,-1.09,-117.3,19.9,-7.8,44,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2095,3965
$GC,381,-1.09,-117.3,24.5,-6.6,50,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2095,3965
$GC,572,-1.09,-117.3,36.9,-6.4,65,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2095,3965
$GC,763,-1.09,-117.3,48.9,-6.5,80,767,0.00,2.47,0.00,0.000,4,0.000,0.050,2370,3519,3966
$GC,797,-1.09,-117.3,51.4,-6.9,82,801,0.00,2.40,0.00,0.000,6,0.000,0.033,2370,2100,3966
$GC,993,-1.09,-117.3,64.6,-6.6,97,997,0.00,2.95,0.00,0.000,4,0.000,0.051,2370,685,3966
$GC,1026,-1.09,-117.3,67.0,-7.2,99,1031,0.00,2.85,0.00,0.000,6,0.000,0.030,2369,2103,3966
$GC,1223,-1.09,-117.3,80.3,-6.5,114,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2101,3966
$GC,1413,-1.09,-117.3,92.4,-6.0,129,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2100,3966
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1465,-0.31,0.0,95.5,6.2,133,1560,0.82,0.00,90.88,0.744,6,0.087,0.000,2537,1881,3484
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1563,1.09,117.3,96.8,0.0,141,1661,1.42,0.00,88.68,0.720,6,0.067,0.000,2840,1881,3004
$GC,1850,1.09,117.3,72.9,9.5,164,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1881,3004
$GC,2041,1.09,117.3,55.5,9.4,179,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1881,3004
$GC,2230,1.09,117.3,38.3,9.1,194,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1881,3004
$GC,2419,1.10,134.7,21.5,8.4,209,2437,0.00,2.90,12.50,0.709,4,0.000,0.057,2840,479,2933
$GC,2457,1.10,134.7,17.7,10.3,213,2464,0.00,2.72,0.00,0.000,6,0.000,0.029,2840,1893,2933
$GC,2530,1.20,222.7,12.2,6.0,224,2603,0.15,2.60,65.30,0.671,4,0.048,0.042,2882,3297,2576
$STATE,2616,end climb,SURFACE_DEPTH_REACHED
$STATE,2616,begin surface coast
$FINISH,3.8,1.022171
$STATE,2624,end surface coast,CONTROL_FINISHED_OK
$STATE,2624,begin surface
$SM_CCo,2648,64.53,0.656,1,0,2057,350.29
$SM_GC,0.78,0.00,0.00,64.53,0.000,0.000,0.656,365,2097,2057,-10.33,-0.08,350.29
$IRIDIUM_FIX,4729.30,-12251.62,041007,040401
$TT8_MAMPS,0.026845
$HUMID,2121
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,28.707
$10V_AH,10.2,10.280
$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,25.350,27.350,257.350,64.525,0.000,73.745,72.113,207.428,1.500,0.000,0.000,17.514,449.016,1532.411,403.730,399.205,494.560,33.330,666.248,0.000,388.681,0.000,7.064
$DEVICE_MAMPS,148.798,58.292,743.990,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6457,239
$CFSIZE,260034560,248270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041007,014001,4746.180,-12250.429,29,0.9,40,18.3