version: 66.02
glider: 23
mission: 2
dive: 321
start: 10 2 107 15 16 57
data:
$ID,23
$MISSION,2
$DIVE,321
$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,-28317.34
$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,17
$R_STBD_OVSHOOT,37
$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
$GPS1,151109,4739.458,-12252.506,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-63.0
$GPS2,151533,4739.500,-12252.463,9,1.6,9,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.256,0.038
$KALMAN_X,19260.1,352.6,10.2,-19019.4,-59.9
$KALMAN_Y,11868.4,370.7,-64.7,-12697.0,-119.1
$MHEAD_RNG_PITCHd_Wd,260.1,924,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.03,-117.3,0.0,0.0,0,97,0.00,0.00,-72.55,0.000,2,0.000,0.000,365,2044,3507
$GC,101,-1.03,-117.3,2.0,-4.0,12,137,11.27,3.05,-15.02,0.000,4,0.149,0.060,2381,604,3963
$GC,191,-1.03,-117.3,7.9,-5.8,26,197,0.00,2.80,0.00,0.000,6,0.000,0.031,2381,2015,3965
$GC,264,-1.03,-117.3,13.5,-8.5,37,270,0.00,2.92,0.00,0.000,4,0.000,0.050,2381,605,3965
$GC,297,-1.03,-117.3,16.2,-8.7,42,303,0.00,2.88,0.00,0.000,6,0.000,0.031,2381,2053,3965
$GC,375,-1.03,-117.3,21.9,-6.6,52,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2055,3965
$GC,567,-1.03,-117.3,35.5,-7.3,67,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2054,3965
$GC,755,-1.03,-117.3,49.9,-7.9,82,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2053,3965
$GC,945,-1.03,-117.3,65.5,-8.3,97,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2053,3965
$GC,1134,-1.03,-117.3,80.5,-6.9,112,1139,0.00,2.97,0.00,0.000,4,0.000,0.050,2382,610,3965
$GC,1181,-1.03,-117.3,83.9,-7.1,115,1185,0.00,2.83,0.00,0.000,6,0.000,0.030,2382,2035,3965
$STATE,1348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1348,begin apogee
$GC,1354,-0.31,0.0,95.1,6.1,128,1449,0.77,0.00,91.18,0.746,6,0.084,0.000,2539,1871,3484
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1453,1.03,117.3,96.6,0.0,136,1550,1.35,2.65,88.97,0.725,4,0.062,0.042,2829,3300,3005
$GC,1569,1.03,117.3,88.5,9.2,145,1576,0.00,2.58,0.00,0.000,6,0.000,0.038,2829,1904,3004
$GC,1766,1.07,151.7,72.2,7.9,161,1797,0.00,3.03,25.50,0.719,4,0.000,0.059,2829,468,2865
$GC,1878,1.07,151.7,62.3,9.3,169,1882,0.00,2.75,0.00,0.000,6,0.000,0.029,2829,1894,2864
$GC,2073,1.08,160.0,44.9,8.8,184,2086,0.00,2.95,5.65,0.743,4,0.000,0.058,2829,467,2831
$GC,2112,1.08,160.0,41.1,10.0,187,2117,0.00,2.75,0.00,0.000,6,0.000,0.029,2829,1892,2831
$GC,2308,1.10,177.3,24.0,8.5,202,2326,0.00,2.95,12.82,0.707,4,0.000,0.058,2829,470,2760
$GC,2359,1.10,177.3,19.2,9.7,206,2365,0.00,2.75,0.00,0.000,6,0.000,0.028,2829,1896,2760
$GC,2431,1.10,177.3,12.3,9.5,217,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1898,2760
$GC,2504,1.12,200.7,5.9,8.3,228,2517,0.12,0.00,10.88,0.703,2,0.052,0.000,2862,1898,2701
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2518,begin surface coast
$FINISH,0.2,1.012233
$STATE,2578,end surface coast,CONTROL_FINISHED_OK
$STATE,2578,begin surface
$SM_CCo,2600,76.60,0.656,1,0,2057,350.04
$SM_GC,0.78,0.00,0.00,76.60,0.000,0.000,0.656,367,2037,2057,-10.32,0.06,350.04
$IRIDIUM_FIX,4719.74,-12251.79,021007,181851
$TT8_MAMPS,0.026845
$HUMID,2136
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,90.3,27.1
$24V_AH,24.0,25.950
$10V_AH,10.2,9.457
$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,24.850,40.500,235.000,76.600,0.000,41.303,43.699,93.398,2.750,0.000,0.000,10.968,468.083,1386.536,412.994,414.576,310.515,33.333,683.383,0.000,406.695,0.000,10.045
$DEVICE_MAMPS,148.798,59.826,745.524,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6477,239
$CFSIZE,260034560,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,160253,4739.556,-12252.898,10,2.8,29,18.3