version: 66.02
glider: 23
mission: 2
dive: 327
start: 10 2 107 20 37 27
data:
$ID,23
$MISSION,2
$DIVE,327
$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,-28327.377
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,203139,4739.530,-12252.208,8,1.2,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.7
$GPS2,203603,4739.589,-12252.092,15,1.7,15,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,-0.140
$KALMAN_X,20434.6,303.5,46.6,-19721.0,190.2
$KALMAN_Y,12772.9,208.0,54.6,-13395.3,137.4
$MHEAD_RNG_PITCHd_Wd,219.0,448,-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,-117.3,0.0,0.0,0,109,0.00,0.00,-84.60,0.000,2,0.000,0.000,366,2104,3786
$GC,113,-1.03,-117.3,2.1,-1.8,14,132,11.25,0.00,-5.20,0.000,6,0.148,0.000,2381,2105,3964
$GC,200,-1.03,-117.3,9.3,-7.0,27,206,0.00,2.45,0.00,0.000,4,0.000,0.049,2381,3512,3965
$GC,232,-1.03,-117.3,11.9,-7.5,32,239,0.00,2.42,0.00,0.000,6,0.000,0.032,2381,2082,3966
$GC,305,-1.03,-117.3,16.2,-5.9,43,311,0.00,2.90,0.00,0.000,4,0.000,0.051,2381,694,3965
$GC,331,-1.03,-117.3,18.1,-7.1,47,338,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2110,3965
$GC,402,-1.03,-117.3,22.7,-6.3,55,407,0.00,2.95,0.00,0.000,4,0.000,0.050,2381,690,3965
$GC,427,-1.03,-117.3,24.5,-6.9,56,434,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2103,3965
$GC,623,-1.03,-117.3,38.0,-7.0,72,628,0.00,2.95,0.00,0.000,4,0.000,0.050,2381,692,3966
$GC,656,-1.03,-117.3,40.3,-7.5,74,661,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2112,3966
$GC,852,-1.03,-117.3,53.4,-6.5,89,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2111,3966
$GC,1043,-1.03,-117.3,65.5,-6.0,104,1048,0.00,2.95,0.00,0.000,4,0.000,0.049,2381,695,3966
$GC,1094,-1.03,-117.3,69.0,-6.2,107,1101,0.00,2.83,0.00,0.000,6,0.000,0.030,2381,2103,3966
$GC,1291,-1.03,-117.3,82.1,-6.9,123,1295,0.00,2.45,0.00,0.000,4,0.000,0.052,2381,3514,3966
$GC,1324,-1.03,-117.3,84.5,-7.2,125,1328,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2092,3966
$STATE,1504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1504,begin apogee
$GC,1511,-0.31,0.0,95.6,5.5,139,1605,0.77,0.00,91.25,0.746,6,0.086,0.000,2538,1879,3484
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1609,1.03,117.3,96.7,0.0,147,1706,1.38,0.00,88.95,0.723,6,0.067,0.000,2830,1879,3004
$GC,1895,1.03,118.2,72.0,9.0,170,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1879,3003
$GC,2086,1.04,121.2,55.3,9.0,185,2098,0.00,2.92,2.53,0.798,4,0.000,0.058,2830,477,2989
$GC,2169,1.04,121.2,46.9,10.0,191,2177,0.00,2.72,0.00,0.000,6,0.000,0.029,2830,1890,2990
$GC,2366,1.06,141.5,30.7,8.4,207,2383,0.00,0.00,14.85,0.713,6,0.000,0.000,2830,1893,2906
$GC,2571,1.06,141.5,12.3,9.1,229,2577,0.00,2.90,0.00,0.000,4,0.000,0.058,2830,474,2905
$STATE,2648,end climb,SURFACE_DEPTH_REACHED
$STATE,2649,begin surface coast
$FINISH,0.1,1.021521
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2726,100.00,0.653,0,0,2056,350.04
$SM_GC,0.74,0.00,0.00,100.00,0.000,0.000,0.653,367,2109,2056,-10.32,0.25,350.04
$IRIDIUM_FIX,4726.11,-12253.53,021007,232346
$TT8_MAMPS,0.026845
$HUMID,2130
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.6,31.1
$24V_AH,24.0,26.378
$10V_AH,10.2,9.587
$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,24.550,45.075,197.575,100.000,0.000,38.858,33.236,102.749,2.000,0.000,0.000,17.359,485.719,1505.281,409.934,433.922,303.169,33.335,682.123,0.000,419.466,0.000,10.057
$DEVICE_MAMPS,148.031,58.292,797.680,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6452,249
$CFSIZE,260034560,249004032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,212527,4739.528,-12252.296,9,1.5,9,18.3