version: 66.02
glider: 23
mission: 2
dive: 301
start: 10 1 107 20 43 31
data:
$ID,23
$MISSION,2
$DIVE,301
$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,-2
$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,-28386.346
$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,2130
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$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,720
$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,2
$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
$GPS1,203727,4739.399,-12252.460,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.7
$GPS2,204207,4739.422,-12252.411,12,2.0,28,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.258,0.016
$KALMAN_X,16995.2,209.7,119.3,-16655.7,92.2
$KALMAN_Y,9677.0,33.7,61.1,-10437.1,3.3
$MHEAD_RNG_PITCHd_Wd,255.3,990,-14.5,-9.048
$D_GRID,124
$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,-1.03,-117.3,0.0,0.0,0,91,0.00,0.00,-66.47,0.000,2,0.000,0.000,367,2113,3443
$GC,95,-1.03,-117.3,2.1,-3.5,11,132,11.27,2.95,-17.45,0.000,4,0.150,0.061,2381,705,3963
$GC,178,-1.03,-117.3,8.0,-7.9,24,184,0.00,2.88,0.00,0.000,6,0.000,0.031,2381,2142,3963
$GC,250,-1.03,-117.3,13.4,-7.9,35,256,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,3551,3964
$GC,382,-1.03,-117.3,24.8,-8.7,51,386,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2134,3965
$GC,578,-1.03,-117.3,39.8,-7.1,66,582,0.00,2.95,0.00,0.000,4,0.000,0.054,2381,715,3965
$GC,624,-1.03,-117.3,43.3,-7.6,69,628,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2136,3965
$GC,819,-1.03,-117.3,58.1,-7.6,84,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2134,3965
$GC,1010,-1.03,-117.3,72.4,-7.5,99,1015,0.00,2.97,0.00,0.000,4,0.000,0.051,2381,706,3965
$GC,1088,-1.03,-117.3,78.6,-7.7,104,1095,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2135,3965
$GC,1285,-1.03,-117.3,92.5,-7.1,120,1289,0.00,2.45,0.00,0.000,4,0.000,0.053,2381,3541,3965
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1331,-0.31,0.0,95.5,7.8,122,1425,0.75,0.00,90.72,0.739,6,0.092,0.000,2534,1730,3483
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1428,1.03,117.3,97.8,0.0,130,1521,1.42,0.00,88.62,0.719,6,0.074,0.000,2832,1731,3005
$GC,1708,1.03,117.3,76.0,9.1,153,1712,0.00,2.67,0.00,0.000,4,0.000,0.043,2832,3167,3005
$GC,1799,1.04,125.4,67.7,8.8,159,1810,0.00,2.67,5.93,0.758,6,0.000,0.040,2832,1749,2972
$GC,2008,1.07,150.0,50.0,8.3,176,2033,0.00,2.67,18.17,0.716,4,0.000,0.041,2832,3169,2872
$GC,2059,1.09,164.2,45.6,8.6,180,2075,0.00,2.67,10.25,0.722,6,0.000,0.041,2832,1742,2814
$GC,2273,1.10,176.9,27.0,8.6,197,2286,0.00,0.00,9.30,0.716,6,0.000,0.000,2832,1742,2761
$GC,2480,1.14,218.7,10.7,7.7,222,2518,0.12,2.67,30.88,0.684,4,0.053,0.038,2863,3164,2591
$STATE,2544,end climb,SURFACE_DEPTH_REACHED
$STATE,2544,begin surface coast
$FINISH,1.3,1.022074
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2599,64.53,0.658,1,0,2057,350.04
$SM_GC,0.97,0.00,0.00,64.53,0.000,0.000,0.658,366,2117,2057,-10.32,-0.37,350.04
$IRIDIUM_FIX,4719.74,-12251.79,011007,232302
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.7,28.4
$24V_AH,24.0,24.400
$10V_AH,10.2,8.909
$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,24.875,43.300,253.875,64.525,0.000,37.596,36.293,103.875,1.750,0.000,0.000,30.139,460.561,1385.492,413.495,437.565,299.417,33.330,679.053,0.000,412.471,0.000,10.053
$DEVICE_MAMPS,149.565,60.593,757.796,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,237
$CFSIZE,260034560,249720832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011007,212917,4739.423,-12252.845,13,2.6,32,18.3