version: 66.02
glider: 23
mission: 2
dive: 307
start: 10 2 107 2 21 21
data:
$ID,23
$MISSION,2
$DIVE,307
$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,-28379.643
$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,20
$R_STBD_OVSHOOT,51
$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
$GPS1,020051,4739.486,-12253.441,10,1.4,10,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.9
$GPS2,021957,4739.634,-12253.320,13,1.4,13,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.210
$KALMAN_X,17133.1,76.7,16.8,-17694.2,-59.3
$KALMAN_Y,9825.6,44.0,-36.2,-10112.9,25.8
$MHEAD_RNG_PITCHd_Wd,129.2,343,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.09,-117.3,0.0,0.0,0,100,0.00,0.00,-72.78,0.000,2,0.000,0.000,365,2067,3526
$GC,103,-1.09,-117.3,2.2,-5.0,12,135,11.15,2.45,-14.43,0.000,4,0.146,0.060,2369,3426,3963
$GC,255,-1.09,-117.3,13.8,-8.7,35,261,0.00,2.42,0.00,0.000,6,0.000,0.035,2369,2019,3964
$GC,327,-1.09,-117.3,19.9,-8.6,46,333,0.00,2.90,0.00,0.000,4,0.000,0.054,2369,621,3964
$GC,373,-1.09,-117.3,24.0,-8.9,50,379,0.00,2.72,0.00,0.000,6,0.000,0.031,2369,2001,3964
$GC,569,-1.09,-117.3,38.4,-7.5,66,573,0.00,2.58,0.00,0.000,4,0.000,0.049,2369,3454,3965
$GC,633,-1.09,-117.3,43.5,-7.9,70,640,0.00,2.47,0.00,0.000,6,0.000,0.035,2369,2027,3965
$GC,830,-1.09,-117.3,58.2,-7.2,86,834,0.00,2.53,0.00,0.000,4,0.000,0.050,2369,3462,3965
$GC,915,-1.09,-117.3,65.3,-8.1,92,920,0.00,2.45,0.00,0.000,6,0.000,0.036,2369,2031,3965
$GC,1112,-1.09,-117.3,80.0,-7.6,107,1116,0.00,2.50,0.00,0.000,4,0.000,0.051,2369,3456,3966
$GC,1163,-1.09,-117.3,84.1,-7.2,110,1170,0.00,2.42,0.00,0.000,6,0.000,0.036,2369,2035,3965
$STATE,1331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1338,-0.31,0.0,95.7,7.1,124,1432,0.85,0.00,90.57,0.748,6,0.087,0.000,2541,1887,3485
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1437,1.09,117.3,97.7,0.0,132,1535,1.40,2.90,88.95,0.726,4,0.066,0.059,2839,484,3004
$GC,1561,1.10,126.7,90.2,8.7,142,1574,0.00,2.75,6.65,0.755,6,0.000,0.029,2839,1909,2967
$GC,1763,1.10,126.7,71.3,9.9,158,1767,0.00,2.55,0.00,0.000,4,0.000,0.046,2839,3305,2967
$GC,1795,1.10,126.7,68.1,10.0,160,1800,0.00,2.58,0.00,0.000,6,0.000,0.040,2839,1894,2966
$GC,1991,1.10,126.7,49.7,9.2,175,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1895,2966
$GC,2180,1.10,132.9,32.5,8.8,190,2187,0.00,0.00,4.45,0.755,6,0.000,0.000,2839,1894,2942
$GC,2372,1.17,191.2,16.9,7.0,208,2421,0.12,3.00,43.38,0.680,4,0.051,0.061,2870,468,2704
$GC,2461,1.17,191.2,8.4,10.9,222,2467,0.00,2.72,0.00,0.000,6,0.000,0.031,2870,1886,2703
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2491,begin surface coast
$FINISH,1.0,1.021773
$STATE,2538,end surface coast,CONTROL_FINISHED_OK
$STATE,2538,begin surface
$SM_CCo,2565,79.15,0.654,1,0,2057,350.04
$SM_GC,0.95,0.00,0.00,79.15,0.000,0.000,0.654,366,2059,2057,-10.32,0.65,350.04
$IRIDIUM_FIX,4722.92,-12251.79,021007,060656
$TT8_MAMPS,0.04602
$HUMID,2100
$TCM_TEMP,19.70
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,80.0,35.9
$24V_AH,24.0,24.881
$10V_AH,10.0,9.077
$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,24.850,42.600,234.000,79.150,0.000,156.096,206.682,444.035,4.250,0.000,0.000,14.767,427.121,1602.828,404.282,429.229,963.670,33.327,676.730,0.000,410.341,0.000,7.046
$DEVICE_MAMPS,146.497,60.593,754.728,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.107,0.000,0.000,0.000,0.000,0.000,3352.110,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,17.848,0.000
$DATA_FILE_SIZE,6450,234
$CFSIZE,260034560,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,030627,4739.414,-12253.080,12,1.5,12,18.3