version: 66.02
glider: 23
mission: 2
dive: 373
start: 10 4 107 17 30 52
data:
$ID,23
$MISSION,2
$DIVE,373
$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,-28316.076
$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,20
$R_STBD_OVSHOOT,58
$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
$GPS1,172029,4746.091,-12249.047,8,3.8,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.4
$GPS2,172937,4746.105,-12249.036,15,1.6,26,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.254,0.049
$KALMAN_X,22833.3,-78.7,-7.7,-17867.5,8.0
$KALMAN_Y,14727.0,70.7,26.3,-3113.8,-4.8
$MHEAD_RNG_PITCHd_Wd,262.6,1538,-14.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.03,-117.3,0.0,0.0,0,125,0.00,0.00,-96.45,0.000,2,0.000,0.000,367,2141,3610
$GC,130,-1.03,-117.3,2.3,-4.9,16,161,11.25,3.10,-9.85,0.000,4,0.149,0.060,2381,685,3963
$GC,273,-1.03,-117.3,17.2,-9.3,38,279,0.00,2.80,0.00,0.000,6,0.000,0.030,2380,2077,3964
$GC,350,-1.03,-117.3,22.6,-6.6,47,354,0.00,2.50,0.00,0.000,4,0.000,0.050,2381,3506,3965
$GC,384,-1.03,-117.3,24.8,-7.2,49,388,0.00,2.42,0.00,0.000,6,0.000,0.033,2381,2086,3966
$GC,579,-1.03,-117.3,38.0,-6.8,64,584,0.00,2.92,0.00,0.000,4,0.000,0.051,2381,686,3966
$GC,618,-1.03,-117.3,40.9,-7.5,66,625,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2099,3966
$GC,814,-1.03,-117.3,54.6,-7.0,82,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2098,3967
$GC,1006,-1.03,-117.3,67.3,-6.7,97,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2098,3966
$GC,1197,-1.03,-117.3,80.3,-6.7,112,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2098,3967
$GC,1384,-1.03,-117.3,93.0,-6.8,127,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2098,3967
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1425,-0.31,0.0,95.6,6.9,130,1519,0.75,0.00,90.70,0.743,6,0.085,0.000,2537,1879,3484
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1523,1.03,117.3,97.7,0.0,138,1616,1.38,0.00,88.93,0.721,6,0.066,0.000,2828,1879,3005
$GC,1803,1.04,120.3,76.8,8.9,161,1807,0.00,0.00,2.05,0.806,6,0.000,0.000,2829,1879,2993
$GC,1991,1.06,143.7,60.7,8.3,176,2015,0.00,0.00,17.20,0.720,6,0.000,0.000,2828,1880,2898
$GC,2204,1.07,154.2,41.8,8.7,193,2216,0.00,0.00,7.57,0.732,6,0.000,0.000,2829,1880,2854
$GC,2406,1.09,166.8,23.9,8.6,209,2422,0.00,2.92,9.48,0.714,4,0.000,0.058,2828,486,2802
$GC,2470,1.09,166.8,17.8,9.7,215,2477,0.00,2.72,0.00,0.000,6,0.000,0.028,2828,1902,2802
$GC,2543,1.19,263.2,12.5,5.9,226,2622,0.15,0.00,71.70,0.665,6,0.048,0.000,2872,1904,2410
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,0.2,1.011478
$STATE,2689,end surface coast,CONTROL_FINISHED_OK
$STATE,2689,begin surface
$SM_CCo,2712,90.00,0.640,1,0,1648,450.13
$SM_GC,0.73,0.00,0.00,90.00,0.000,0.000,0.640,368,2116,1648,-10.31,0.45,450.13
$IRIDIUM_FIX,4729.30,-12247.19,041007,212113
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,30.370
$10V_AH,10.2,10.717
$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,24.875,23.100,287.625,90.000,0.000,80.841,82.083,210.676,1.750,0.000,0.000,27.565,454.416,1530.373,477.985,413.960,516.040,33.333,740.313,0.000,395.571,0.000,7.066
$DEVICE_MAMPS,148.798,59.826,806.117,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6448,249
$CFSIZE,260034560,247853056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041007,181853,4746.186,-12249.495,9,2.2,28,18.3