version: 66.02
glider: 23
mission: 2
dive: 306
start: 10 2 107 1 15 0
data:
$ID,23
$MISSION,2
$DIVE,306
$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,-28385.117
$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,2035
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,41
$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,1
$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
$GPS1,010902,4739.449,-12252.995,14,2.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.8
$GPS2,011338,4739.459,-12252.974,11,1.5,16,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.248,0.012
$KALMAN_X,17020.1,87.6,59.7,-17199.1,-81.0
$KALMAN_Y,9632.5,14.3,-59.5,-10183.8,3.3
$MHEAD_RNG_PITCHd_Wd,254.5,285,-15.3,-9.048
$D_GRID,116
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-1.09,-117.3,0.0,0.0,0,101,0.00,0.00,-66.60,0.000,2,0.000,0.000,364,2054,3417
$GC,104,-1.09,-117.3,2.1,-4.6,11,141,11.23,3.00,-18.73,0.000,4,0.149,0.058,2371,607,3962
$GC,188,-1.09,-117.3,7.0,-7.8,24,194,0.00,2.78,0.00,0.000,6,0.000,0.030,2371,2009,3962
$GC,260,-1.09,-117.3,13.7,-8.8,35,266,0.00,2.55,0.00,0.000,4,0.000,0.048,2371,3458,3963
$GC,405,-1.09,-117.3,26.4,-8.8,52,409,0.00,2.47,0.00,0.000,6,0.000,0.036,2370,2016,3963
$GC,601,-1.09,-117.3,40.8,-7.3,67,605,0.00,2.53,0.00,0.000,4,0.000,0.049,2371,3454,3963
$GC,691,-1.09,-117.3,48.1,-7.5,73,698,0.00,2.47,0.00,0.000,6,0.000,0.035,2371,2028,3963
$GC,888,-1.09,-117.3,62.1,-7.1,89,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2029,3963
$GC,1078,-1.09,-117.3,76.3,-7.7,104,1082,0.00,2.92,0.00,0.000,4,0.000,0.054,2371,618,3963
$GC,1123,-1.09,-117.3,80.0,-8.5,107,1128,0.00,2.83,0.00,0.000,6,0.000,0.031,2371,2042,3963
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1330,-0.31,0.0,95.8,7.0,123,1423,0.82,0.00,90.53,0.746,6,0.086,0.000,2538,1882,3483
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1429,1.09,117.3,97.5,0.0,131,1527,1.42,2.65,88.47,0.722,4,0.067,0.045,2841,3299,3004
$GC,1553,1.09,117.3,89.4,9.4,141,1557,0.00,2.58,0.00,0.000,6,0.000,0.039,2841,1891,3004
$GC,1749,1.09,117.3,71.5,9.2,156,1753,0.00,2.88,0.00,0.000,4,0.000,0.060,2841,473,3004
$GC,1807,1.09,117.3,65.9,9.6,160,1812,0.00,2.72,0.00,0.000,6,0.000,0.031,2841,1891,3004
$GC,2003,1.09,121.5,48.3,8.9,175,2016,0.00,2.95,2.97,0.779,4,0.000,0.058,2841,478,2988
$GC,2047,1.09,121.5,44.1,9.3,178,2054,0.00,2.75,0.00,0.000,6,0.000,0.030,2841,1892,2988
$GC,2244,1.10,133.0,27.0,8.6,194,2257,0.00,2.65,8.25,0.727,4,0.000,0.045,2841,3302,2941
$GC,2275,1.13,161.8,24.4,8.0,196,2302,0.00,2.60,21.20,0.699,6,0.000,0.038,2841,1888,2825
$GC,2497,1.18,201.2,6.4,7.7,225,2523,0.12,0.00,22.65,0.688,2,0.051,0.000,2874,1888,2699
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2524,begin surface coast
$FINISH,0.2,1.003900
$STATE,2594,end surface coast,CONTROL_FINISHED_OK
$STATE,2595,begin surface
$SM_CCo,2621,75.60,0.655,0,0,2057,350.04
$SM_GC,0.92,0.00,0.00,75.60,0.000,0.000,0.655,365,2067,2057,-10.33,0.93,350.04
$IRIDIUM_FIX,4722.92,-12249.11,021007,040412
$TT8_MAMPS,0.04602
$HUMID,2131
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.3,32.8
$24V_AH,23.6,24.776
$10V_AH,9.9,9.032
$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,25.000,44.025,234.075,75.600,0.000,40.644,29.903,112.648,2.000,0.000,0.000,17.592,446.844,1432.341,393.800,442.776,302.215,33.326,676.581,0.000,430.932,0.000,9.875
$DEVICE_MAMPS,148.798,59.826,778.505,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.551,0.000,0.000,0.000,0.000,0.000,2198.080,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,17.446,0.000
$DATA_FILE_SIZE,6443,240
$CFSIZE,260034560,249610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,020051,4739.486,-12253.441,10,1.4,10,18.3