version: 66.02
glider: 23
mission: 2
dive: 319
start: 10 2 107 13 28 45
data:
$ID,23
$MISSION,2
$DIVE,319
$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,-28333.514
$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,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,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
$GPS1,131937,4739.434,-12253.355,18,0.9,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-61.7
$GPS2,132721,4739.471,-12253.304,14,1.6,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.255,0.041
$KALMAN_X,19096.3,380.6,168.8,-20090.9,-86.0
$KALMAN_Y,11878.7,433.6,87.6,-12975.0,-89.4
$MHEAD_RNG_PITCHd_Wd,62.6,1126,-14.5,-9.048
$D_GRID,119
$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,-117.3,0.0,0.0,0,103,0.00,0.00,-78.50,0.000,2,0.000,0.000,364,2024,3612
$GC,107,-1.03,-117.3,2.1,-4.6,13,138,11.25,2.50,-12.30,0.000,4,0.147,0.062,2380,3442,3964
$GC,388,-1.03,-117.3,23.2,-8.0,53,395,0.00,2.45,0.00,0.000,6,0.000,0.035,2380,2028,3965
$GC,585,-1.03,-117.3,36.9,-6.6,69,589,0.00,2.50,0.00,0.000,4,0.000,0.049,2380,3451,3966
$GC,742,-1.03,-117.3,47.9,-7.3,80,749,0.00,2.45,0.00,0.000,6,0.000,0.036,2380,2039,3966
$GC,939,-1.03,-117.3,60.4,-6.2,96,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2039,3966
$GC,1130,-1.03,-117.3,71.9,-6.3,111,1134,0.00,2.45,0.00,0.000,4,0.000,0.050,2380,3442,3966
$GC,1202,-1.03,-117.3,76.3,-5.9,116,1207,0.00,2.42,0.00,0.000,6,0.000,0.037,2380,2024,3966
$GC,1398,-1.03,-117.3,88.3,-6.5,131,1402,0.00,2.47,0.00,0.000,4,0.000,0.050,2380,3447,3966
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1505,-0.31,0.0,95.3,7.2,138,1599,0.75,0.00,90.80,0.749,6,0.091,0.000,2534,1890,3484
$STATE,1600,end apogee,CONTROL_FINISHED_OK
$STATE,1600,begin climb
$GC,1603,1.03,117.3,97.9,0.0,146,1696,1.40,0.00,88.78,0.730,6,0.071,0.000,2828,1890,3005
$GC,1884,1.05,127.8,77.5,8.7,169,1897,0.00,2.60,7.40,0.750,4,0.000,0.044,2828,3306,2963
$GC,1936,1.05,128.7,72.7,9.0,173,1941,0.00,2.60,0.00,0.000,6,0.000,0.041,2828,1880,2962
$GC,2132,1.07,151.3,55.3,8.3,188,2157,0.00,2.92,17.45,0.722,4,0.000,0.061,2828,469,2867
$GC,2183,1.07,151.3,50.6,9.5,192,2188,0.00,2.75,0.00,0.000,6,0.000,0.029,2829,1898,2866
$GC,2379,1.07,153.3,33.4,9.0,207,2383,0.00,2.53,0.00,0.000,4,0.000,0.045,2828,3296,2867
$GC,2403,1.07,153.3,31.1,9.1,208,2410,0.00,2.58,0.00,0.000,6,0.000,0.040,2828,1892,2866
$GC,2603,1.07,153.3,13.4,9.1,229,2609,0.00,2.88,0.00,0.000,4,0.000,0.062,2829,475,2866
$GC,2682,1.13,208.8,6.5,7.3,241,2708,0.12,2.70,20.17,0.693,2,0.055,0.030,2861,1891,2756
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,0.2,1.022024
$STATE,2787,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2809,82.20,0.655,0,0,2056,350.04
$SM_GC,0.89,0.00,0.00,82.20,0.000,0.000,0.655,368,2044,2056,-10.31,0.28,350.04
$IRIDIUM_FIX,4719.74,-12254.47,021007,171715
$TT8_MAMPS,0.026845
$HUMID,2146
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.5,30.9
$24V_AH,24.0,25.808
$10V_AH,10.2,9.415
$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,24.800,41.925,224.600,82.200,0.000,79.728,66.961,162.574,2.250,0.000,0.000,16.226,495.007,1591.159,408.798,464.751,443.203,33.331,689.859,0.000,453.055,0.000,10.056
$DEVICE_MAMPS,147.264,62.127,750.126,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6461,257
$CFSIZE,260034560,249200640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,141811,4739.384,-12252.902,11,2.3,30,18.3