version: 66.02
glider: 23
mission: 2
dive: 320
start: 10 2 107 14 23 44
data:
$ID,23
$MISSION,2
$DIVE,320
$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,-28327.076
$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,18
$R_STBD_OVSHOOT,35
$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
$GPS1,141811,4739.384,-12252.902,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.3
$GPS2,142220,4739.414,-12252.870,9,1.8,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.242,0.092
$KALMAN_X,19174.6,371.2,90.1,-19540.6,-87.2
$KALMAN_Y,11821.1,399.7,5.0,-12904.5,-125.2
$MHEAD_RNG_PITCHd_Wd,50.8,593,-14.5,-9.048
$D_GRID,122
$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,-117.3,0.0,0.0,0,97,0.00,0.00,-72.85,0.000,2,0.000,0.000,368,2044,3500
$GC,101,-1.03,-117.3,2.1,-4.8,12,133,11.18,2.50,-15.12,0.000,4,0.146,0.061,2379,3431,3964
$GC,383,-1.03,-117.3,22.2,-7.6,53,390,0.00,2.45,0.00,0.000,6,0.000,0.035,2379,2018,3966
$GC,579,-1.03,-117.3,35.0,-6.6,69,584,0.00,2.47,0.00,0.000,4,0.000,0.048,2379,3431,3966
$GC,712,-1.03,-117.3,45.2,-8.1,78,718,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2023,3966
$GC,908,-1.03,-117.3,59.0,-6.6,94,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2024,3966
$GC,1099,-1.03,-117.3,72.1,-6.7,109,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2024,3966
$GC,1286,-1.03,-117.3,85.3,-6.9,124,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2024,3966
$STATE,1437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1437,begin apogee
$GC,1443,-0.31,0.0,95.3,6.5,136,1538,0.75,0.00,91.07,0.746,6,0.087,0.000,2536,1884,3484
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1541,1.03,117.3,96.8,0.0,144,1639,1.40,2.90,88.50,0.726,4,0.067,0.058,2833,486,3005
$GC,1672,1.03,117.3,87.4,9.8,154,1680,0.00,2.72,0.00,0.000,6,0.000,0.028,2833,1877,3006
$GC,1869,1.03,117.3,69.8,9.2,170,1873,0.00,2.60,0.00,0.000,4,0.000,0.045,2833,3309,3005
$GC,1907,1.03,117.3,66.1,9.5,172,1914,0.00,2.58,0.00,0.000,6,0.000,0.040,2833,1906,3004
$GC,2104,1.05,129.2,48.4,8.7,188,2120,0.00,3.00,8.68,0.734,4,0.000,0.059,2833,463,2956
$GC,2141,1.05,129.2,44.8,9.8,191,2146,0.00,2.75,0.00,0.000,6,0.000,0.029,2833,1898,2956
$GC,2337,1.09,170.8,28.7,7.7,206,2374,0.00,2.97,30.80,0.697,4,0.000,0.058,2833,468,2786
$GC,2393,1.10,175.3,24.0,8.9,210,2401,0.00,2.75,2.92,0.749,6,0.000,0.028,2833,1893,2769
$GC,2597,1.16,236.6,5.1,7.1,238,2604,0.15,0.00,4.97,0.725,2,0.053,0.000,2876,1896,2743
$STATE,2605,end climb,SURFACE_DEPTH_REACHED
$STATE,2605,begin surface coast
$FINISH,0.2,1.008022
$STATE,2689,end surface coast,CONTROL_FINISHED_OK
$STATE,2689,begin surface
$SM_CCo,2711,80.12,0.650,0,0,2056,350.04
$SM_GC,0.84,0.00,0.00,80.12,0.000,0.000,0.650,365,2044,2056,-10.33,0.25,350.04
$IRIDIUM_FIX,4722.92,-12251.79,021007,171748
$TT8_MAMPS,0.026845
$HUMID,2140
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.3,32.3
$24V_AH,24.0,25.878
$10V_AH,10.2,9.436
$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,24.900,32.700,226.950,80.125,0.000,39.907,33.256,86.152,2.250,0.000,0.000,16.389,480.604,1482.463,390.773,446.731,286.798,33.329,667.357,0.000,435.967,0.000,10.060
$DEVICE_MAMPS,146.497,60.593,748.592,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6444,252
$CFSIZE,260034560,249180160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,151109,4739.458,-12252.506,9,1.5,9,18.3