version: 66.02
glider: 23
mission: 2
dive: 361
start: 10 4 107 5 14 50
data:
$ID,23
$MISSION,2
$DIVE,361
$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,-28291.805
$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,18
$R_STBD_OVSHOOT,40
$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
$GPS1,050059,4746.342,-12250.214,11,3.0,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.5
$GPS2,051335,4746.352,-12250.260,14,2.9,33,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.247,-0.077
$KALMAN_X,23179.3,-11.6,-47.1,-19764.3,-31.5
$KALMAN_Y,14293.2,108.6,-16.6,-2218.8,11.2
$MHEAD_RNG_PITCHd_Wd,89.1,2051,-14.5,-9.048
$D_GRID,147
$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,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,98,0.00,0.00,-72.10,0.000,2,0.000,0.000,368,2117,3476
$GC,102,-1.03,-117.3,2.1,-4.7,12,139,11.23,2.45,-16.38,0.000,4,0.148,0.061,2380,3495,3964
$GC,337,-1.03,-117.3,22.9,-8.2,46,341,0.00,2.40,0.00,0.000,6,0.000,0.034,2380,2078,3966
$GC,533,-1.03,-117.3,36.2,-6.5,61,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2079,3966
$GC,724,-1.03,-117.3,49.2,-7.1,76,728,0.00,2.47,0.00,0.000,4,0.000,0.049,2380,3495,3966
$GC,762,-1.03,-117.3,52.3,-7.4,78,769,0.00,2.38,0.00,0.000,6,0.000,0.034,2380,2095,3967
$GC,959,-1.03,-117.3,65.9,-7.0,94,963,0.00,2.92,0.00,0.000,4,0.000,0.053,2380,683,3967
$GC,984,-1.03,-117.3,67.8,-7.5,95,991,0.00,2.85,0.00,0.000,6,0.000,0.030,2380,2099,3966
$GC,1180,-1.03,-117.3,81.8,-7.4,111,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2098,3967
$GC,1372,-1.03,-117.3,94.3,-6.5,126,1376,0.00,2.95,0.00,0.000,4,0.000,0.051,2380,683,3967
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1390,-0.31,0.0,95.4,6.6,126,1483,0.75,0.00,90.28,0.740,6,0.084,0.000,2535,1907,3484
$STATE,1484,end apogee,CONTROL_FINISHED_OK
$STATE,1484,begin climb
$GC,1487,1.03,117.3,97.6,0.0,134,1583,1.40,2.58,88.70,0.721,4,0.065,0.045,2832,3296,3005
$GC,1604,1.07,148.3,90.9,8.0,143,1634,0.00,2.55,22.95,0.723,6,0.000,0.039,2832,1898,2879
$GC,1823,1.07,148.3,71.0,9.1,161,1828,0.00,2.90,0.00,0.000,4,0.000,0.061,2832,478,2879
$GC,1874,1.07,148.3,65.6,10.4,164,1881,0.00,2.75,0.00,0.000,6,0.000,0.029,2832,1890,2879
$GC,2071,1.07,148.3,47.1,9.3,180,2075,0.00,2.90,0.00,0.000,4,0.000,0.059,2832,478,2879
$GC,2090,1.07,148.3,45.3,9.3,181,2094,0.00,2.72,0.00,0.000,6,0.000,0.029,2832,1890,2879
$GC,2285,1.07,148.3,27.3,9.2,196,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1892,2879
$GC,2480,1.17,239.0,11.4,6.1,219,2554,0.15,3.03,67.38,0.673,4,0.051,0.059,2875,474,2509
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,1.6,1.022133
$STATE,2588,end surface coast,CONTROL_FINISHED_OK
$STATE,2588,begin surface
$SM_CCo,2613,55.05,0.650,0,0,2057,350.04
$SM_GC,0.80,0.00,0.00,55.05,0.000,0.000,0.650,365,2095,2057,-10.33,-0.11,350.04
$IRIDIUM_FIX,4726.11,-12248.15,041007,090957
$TT8_MAMPS,0.026845
$HUMID,2140
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.9,999.0
$24V_AH,24.0,29.150
$10V_AH,10.2,10.397
$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,24.950,43.575,269.300,55.050,0.000,117.258,100.330,291.571,1.750,0.000,0.000,35.852,444.043,1529.017,414.850,424.490,650.698,33.333,678.413,0.000,395.811,0.000,7.064
$DEVICE_MAMPS,148.031,61.360,740.155,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6472,236
$CFSIZE,260034560,248156160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,060014,4746.237,-12249.880,10,1.1,10,18.3