version: 66.02
glider: 23
mission: 2
dive: 316
start: 10 2 107 10 44 38
data:
$ID,23
$MISSION,2
$DIVE,316
$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,-28334.082
$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,33
$R_STBD_OVSHOOT,22
$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,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
$GPS1,103914,4739.574,-12252.257,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.7
$GPS2,104314,4739.625,-12252.176,13,1.0,13,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,-0.172
$KALMAN_X,19026.9,316.9,245.2,-18626.5,151.3
$KALMAN_Y,11774.8,400.4,242.4,-12709.1,95.9
$MHEAD_RNG_PITCHd_Wd,210.1,407,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.03,-117.3,0.0,0.0,0,91,0.00,0.00,-66.93,0.000,2,0.000,0.000,364,2037,3426
$GC,95,-1.03,-117.3,2.2,-4.3,11,132,11.27,2.95,-17.20,0.000,4,0.149,0.060,2379,633,3963
$GC,139,-1.03,-117.3,5.1,-5.9,18,145,0.00,2.83,0.00,0.000,6,0.000,0.029,2379,2049,3963
$GC,211,-1.03,-117.3,9.2,-6.7,29,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2049,3964
$GC,283,-1.03,-117.3,14.6,-7.5,40,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2048,3965
$GC,355,-1.03,-117.3,19.9,-7.1,51,361,0.00,2.95,0.00,0.000,4,0.000,0.051,2379,633,3965
$GC,373,-1.03,-117.3,21.2,-6.8,53,381,0.00,2.80,0.00,0.000,6,0.000,0.031,2379,2029,3965
$GC,570,-1.03,-117.3,34.6,-6.5,69,574,0.00,2.47,0.00,0.000,4,0.000,0.049,2379,3445,3965
$GC,608,-1.03,-117.3,37.2,-7.1,71,615,0.00,2.45,0.00,0.000,6,0.000,0.035,2379,2034,3965
$GC,807,-1.03,-117.3,50.2,-6.6,87,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2035,3966
$GC,995,-1.03,-117.3,62.9,-6.5,102,1000,0.00,2.47,0.00,0.000,4,0.000,0.049,2379,3444,3965
$GC,1034,-1.03,-117.3,65.9,-7.2,104,1041,0.00,2.42,0.00,0.000,6,0.000,0.035,2379,2022,3965
$GC,1230,-1.03,-117.3,79.7,-7.1,120,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2023,3966
$GC,1419,-1.03,-117.3,92.3,-6.3,135,1424,0.00,2.92,0.00,0.000,4,0.000,0.054,2379,618,3966
$STATE,1455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1455,begin apogee
$GC,1463,-0.31,0.0,95.1,7.0,137,1558,0.75,0.00,90.75,0.744,6,0.087,0.000,2534,1900,3484
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1561,1.03,117.3,97.0,0.0,145,1658,1.40,0.00,88.88,0.726,6,0.066,0.000,2831,1901,3004
$GC,1848,1.05,130.7,75.3,8.6,168,1864,0.00,2.97,9.45,0.742,4,0.000,0.057,2830,483,2951
$GC,1904,1.05,130.7,69.6,10.1,172,1912,0.00,2.72,0.00,0.000,6,0.000,0.028,2831,1882,2951
$GC,2101,1.05,130.7,51.5,9.2,188,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1884,2951
$GC,2292,1.07,147.2,35.2,8.5,203,2307,0.00,0.00,12.52,0.718,6,0.000,0.000,2831,1884,2883
$GC,2492,1.10,179.1,18.0,8.0,220,2523,0.00,2.92,23.45,0.696,4,0.000,0.058,2831,481,2752
$GC,2550,1.10,179.4,13.4,9.0,229,2556,0.00,2.72,0.00,0.000,6,0.000,0.028,2830,1894,2752
$GC,2622,1.16,231.4,7.6,7.4,240,2654,0.15,0.00,28.83,0.677,2,0.050,0.000,2874,1897,2595
$STATE,2655,end climb,SURFACE_DEPTH_REACHED
$STATE,2655,begin surface coast
$FINISH,0.2,1.011063
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2723,63.28,0.650,0,0,2057,350.04
$SM_GC,0.92,0.00,0.00,63.28,0.000,0.000,0.650,367,2053,2057,-10.32,0.51,350.04
$IRIDIUM_FIX,4722.92,-12239.31,021007,131358
$TT8_MAMPS,0.026845
$HUMID,2126
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.0,28.7
$24V_AH,24.0,25.589
$10V_AH,10.2,9.348
$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,24.875,38.475,253.875,63.275,0.000,38.539,31.012,82.649,2.250,0.000,0.000,14.686,477.253,1473.742,421.185,419.892,281.222,33.332,694.741,0.000,411.315,0.000,12.000
$DEVICE_MAMPS,148.798,59.826,743.990,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6439,252
$CFSIZE,260034560,249274368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,113203,4739.437,-12252.505,14,1.9,14,18.3