version: 66.02
glider: 23
mission: 2
dive: 371
start: 10 4 107 15 38 55
data:
$ID,23
$MISSION,2
$DIVE,371
$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,450
$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,-28298.59
$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,16
$R_STBD_OVSHOOT,34
$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
$GPS1,153307,4746.097,-12249.062,36,1.1,42,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.5
$GPS2,153738,4746.110,-12249.060,13,1.1,13,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,-0.088
$KALMAN_X,22803.8,-99.8,-13.1,-17838.2,-1.7
$KALMAN_Y,14663.2,68.5,33.1,-3045.6,15.8
$MHEAD_RNG_PITCHd_Wd,92.5,492,-15.3,-9.048
$D_GRID,162
$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,-117.3,0.0,0.0,0,117,0.00,0.00,-90.57,0.000,2,0.000,0.000,367,2111,3452
$GC,122,-1.09,-117.3,2.0,-4.8,15,159,11.23,2.47,-16.65,0.000,4,0.150,0.061,2370,3498,3964
$GC,363,-1.09,-117.3,24.2,-8.1,48,370,0.00,2.42,0.00,0.000,6,0.000,0.035,2370,2074,3964
$GC,560,-1.09,-117.3,38.0,-7.4,64,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2074,3965
$GC,753,-1.09,-117.3,51.7,-7.1,79,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2074,3965
$GC,940,-1.09,-117.3,65.3,-7.3,94,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2074,3965
$GC,1129,-1.09,-117.3,78.9,-7.1,109,1133,0.00,2.90,0.00,0.000,4,0.000,0.053,2370,684,3965
$GC,1149,-1.09,-117.3,80.6,-7.6,110,1153,0.00,2.85,0.00,0.000,6,0.000,0.030,2370,2103,3965
$GC,1344,-1.09,-117.3,94.5,-7.1,125,1349,0.00,2.47,0.00,0.000,4,0.000,0.052,2370,3516,3966
$STATE,1353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1353,begin apogee
$GC,1363,-0.31,0.0,95.5,7.1,125,1457,0.80,0.00,90.65,0.745,6,0.087,0.000,2535,1895,3484
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1461,1.09,117.3,97.9,0.0,133,1557,1.45,2.95,88.50,0.724,4,0.066,0.058,2843,475,3004
$GC,1585,1.09,117.3,90.1,9.7,143,1590,0.00,2.78,0.00,0.000,6,0.000,0.030,2845,1900,3004
$GC,1781,1.09,117.3,71.9,9.7,158,1785,0.00,2.55,0.00,0.000,4,0.000,0.046,2843,3298,3004
$GC,1813,1.09,117.3,68.7,9.7,160,1818,0.00,2.58,0.00,0.000,6,0.000,0.040,2843,1887,3004
$GC,2009,1.09,117.3,50.6,9.5,175,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1887,3004
$GC,2201,1.09,117.3,32.6,9.4,190,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1888,3004
$GC,2389,1.11,141.6,16.1,8.2,208,2414,0.00,2.62,17.77,0.696,4,0.000,0.044,2843,3304,2905
$GC,2480,1.20,220.7,9.5,6.3,222,2548,0.12,2.58,58.65,0.672,6,0.053,0.038,2875,1881,2583
$STATE,2554,end climb,SURFACE_DEPTH_REACHED
$STATE,2554,begin surface coast
$FINISH,0.1,1.009422
$STATE,2615,end surface coast,CONTROL_FINISHED_OK
$STATE,2615,begin surface
$SM_CCo,2638,108.70,0.638,0,0,1648,450.13
$SM_GC,0.82,0.00,0.00,108.70,0.000,0.000,0.638,367,2130,1648,-10.32,0.85,450.13
$IRIDIUM_FIX,4729.30,-12254.31,041007,181807
$TT8_MAMPS,0.026845
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,13.5
$24V_AH,24.0,30.196
$10V_AH,10.2,10.669
$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,24.975,32.550,255.575,108.700,0.000,39.602,32.453,98.682,1.250,0.000,0.000,15.375,449.341,1428.056,452.344,413.963,313.958,33.337,721.312,0.000,402.945,0.000,9.749
$DEVICE_MAMPS,149.565,61.360,744.757,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6425,243
$CFSIZE,260034560,247906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,162553,4746.016,-12248.614,7,2.3,26,18.3