version: 66.02
glider: 23
mission: 2
dive: 376
start: 10 4 107 20 19 24
data:
$ID,23
$MISSION,2
$DIVE,376
$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,-28289.424
$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,21
$R_STBD_OVSHOOT,50
$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
$GPS1,201308,4746.266,-12250.458,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.0
$GPS2,201809,4746.282,-12250.428,10,2.0,10,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.247,-0.030
$KALMAN_X,22689.8,-71.2,-14.5,-19460.4,-23.6
$KALMAN_Y,14754.2,55.0,1.9,-2772.4,-17.0
$MHEAD_RNG_PITCHd_Wd,78.7,225,-15.3,-9.048
$D_GRID,146
$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,24,-1.09,-117.3,0.0,0.0,0,117,0.00,0.00,-90.40,0.000,2,0.000,0.000,366,2128,3465
$GC,122,-1.09,-117.3,2.0,-4.6,15,159,11.18,2.40,-17.52,0.000,4,0.148,0.061,2367,3478,3963
$GC,411,-1.09,-117.3,27.5,-7.7,52,415,0.00,2.38,0.00,0.000,6,0.000,0.035,2367,2087,3964
$GC,607,-1.09,-117.3,41.4,-7.0,67,611,0.00,2.45,0.00,0.000,4,0.000,0.050,2367,3487,3964
$GC,791,-1.09,-117.3,56.1,-7.8,80,797,0.00,2.38,0.00,0.000,6,0.000,0.035,2367,2092,3965
$GC,989,-1.09,-117.3,70.1,-7.2,96,994,0.00,2.92,0.00,0.000,4,0.000,0.053,2367,692,3965
$GC,1014,-1.09,-117.3,72.1,-7.3,97,1021,0.00,2.80,0.00,0.000,6,0.000,0.031,2367,2081,3964
$GC,1211,-1.09,-117.3,86.3,-7.3,113,1215,0.00,2.50,0.00,0.000,4,0.000,0.052,2367,3507,3965
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1332,-0.31,0.0,95.1,8.4,121,1426,0.82,0.00,90.95,0.735,6,0.088,0.000,2536,1889,3484
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1430,1.09,117.3,97.8,0.0,129,1523,1.42,0.00,88.90,0.719,6,0.066,0.000,2839,1889,3004
$GC,1710,1.09,117.3,76.1,9.2,152,1714,0.00,2.58,0.00,0.000,4,0.000,0.045,2839,3296,3004
$GC,1743,1.09,117.3,73.0,9.9,154,1747,0.00,2.58,0.00,0.000,6,0.000,0.041,2839,1882,3003
$GC,1938,1.09,118.2,55.1,9.0,169,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1883,3003
$GC,2130,1.09,121.5,38.4,8.9,184,2139,0.00,0.00,3.05,0.769,6,0.000,0.000,2839,1883,2987
$GC,2329,1.10,127.9,20.6,8.8,200,2341,0.00,2.65,4.28,0.746,4,0.000,0.045,2839,3303,2962
$GC,2374,1.10,127.9,16.5,9.4,206,2380,0.00,2.58,0.00,0.000,6,0.000,0.039,2839,1880,2961
$GC,2447,1.18,205.4,11.5,6.3,217,2514,0.12,2.95,57.62,0.671,4,0.051,0.061,2872,482,2646
$STATE,2534,end climb,SURFACE_DEPTH_REACHED
$STATE,2534,begin surface coast
$FINISH,0.1,1.021977
$STATE,2581,end surface coast,CONTROL_FINISHED_OK
$STATE,2581,begin surface
$SM_CCo,2607,117.22,0.636,1,0,1649,450.13
$SM_GC,0.82,0.00,0.00,117.22,0.000,0.000,0.636,369,2102,1649,-10.31,0.11,450.13
$IRIDIUM_FIX,4729.30,-12245.46,041007,232329
$TT8_MAMPS,0.026845
$HUMID,2114
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.8,999.0
$24V_AH,24.0,30.631
$10V_AH,10.2,10.787
$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,24.925,37.300,244.800,117.225,0.000,39.709,31.907,137.281,2.750,0.000,0.000,13.515,447.018,1379.329,478.419,424.847,338.067,33.328,747.210,0.000,419.935,0.000,7.063
$DEVICE_MAMPS,148.031,61.360,769.301,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6477,238
$CFSIZE,260034560,247787520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041007,210607,4746.170,-12250.089,12,1.0,29,18.3