version: 66.02
glider: 23
mission: 2
dive: 313
start: 10 2 107 7 56 21
data:
$ID,23
$MISSION,2
$DIVE,313
$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,-28352.115
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,075037,4739.498,-12252.233,30,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.2
$GPS2,075457,4739.553,-12252.140,14,1.0,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.222,-0.132
$KALMAN_X,18192.7,152.9,104.4,-17447.8,146.9
$KALMAN_Y,10975.1,235.1,217.4,-11856.9,123.5
$MHEAD_RNG_PITCHd_Wd,221.0,363,-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,-117.3,0.0,0.0,0,85,0.00,0.00,-60.97,0.000,2,0.000,0.000,368,2015,3309
$GC,89,-1.03,-117.3,2.2,-5.2,10,131,11.23,2.58,-21.40,0.000,4,0.148,0.059,2378,3450,3964
$GC,138,-1.03,-117.3,5.2,-6.9,18,144,0.00,2.42,0.00,0.000,6,0.000,0.032,2378,2028,3964
$GC,210,-1.03,-117.3,10.0,-5.4,29,217,0.00,2.90,0.00,0.000,4,0.000,0.051,2378,625,3964
$GC,243,-1.03,-117.3,12.5,-8.0,34,249,0.00,2.80,0.00,0.000,6,0.000,0.030,2378,2031,3965
$GC,316,-1.03,-117.3,18.1,-7.6,45,322,0.00,2.50,0.00,0.000,4,0.000,0.050,2378,3455,3964
$GC,387,-1.03,-117.3,23.9,-8.1,52,394,0.00,2.47,0.00,0.000,6,0.000,0.035,2378,2030,3965
$GC,583,-1.03,-117.3,38.0,-7.3,68,588,0.00,2.92,0.00,0.000,4,0.000,0.054,2378,613,3966
$GC,629,-1.03,-117.3,41.4,-8.2,71,634,0.00,2.83,0.00,0.000,6,0.000,0.030,2378,2037,3967
$GC,825,-1.03,-117.3,54.6,-6.5,86,829,0.00,2.47,0.00,0.000,4,0.000,0.050,2378,3450,3966
$GC,863,-1.03,-117.3,57.4,-7.3,88,870,0.00,2.45,0.00,0.000,6,0.000,0.035,2378,2034,3966
$GC,1059,-1.03,-117.3,71.1,-6.9,104,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2035,3966
$GC,1249,-1.03,-117.3,84.2,-7.0,119,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2035,3966
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1412,begin apogee
$GC,1418,-0.31,0.0,95.4,6.7,132,1512,0.75,0.00,90.50,0.752,6,0.086,0.000,2535,1885,3484
$STATE,1513,end apogee,CONTROL_FINISHED_OK
$STATE,1513,begin climb
$GC,1516,1.03,117.3,97.5,0.0,140,1614,1.40,2.92,88.57,0.726,4,0.068,0.058,2831,474,3005
$GC,1642,1.04,122.4,89.9,8.9,150,1655,0.00,2.75,4.03,0.775,6,0.000,0.029,2831,1900,2983
$GC,1844,1.06,143.5,72.6,8.4,166,1861,0.00,0.00,15.43,0.730,6,0.000,0.000,2832,1902,2898
$GC,2045,1.07,146.9,54.3,8.9,182,2057,0.00,2.95,2.25,0.808,4,0.000,0.058,2831,486,2885
$GC,2070,1.07,146.9,51.9,9.8,184,2074,0.00,2.70,0.00,0.000,6,0.000,0.029,2831,1891,2885
$GC,2265,1.08,163.3,34.4,8.5,199,2283,0.00,2.92,11.82,0.724,4,0.000,0.059,2832,479,2818
$GC,2310,1.08,163.3,30.3,9.9,202,2315,0.00,2.72,0.00,0.000,6,0.000,0.029,2831,1895,2818
$GC,2510,1.12,194.3,12.8,8.1,223,2541,0.10,2.95,23.20,0.693,4,0.058,0.060,2859,480,2691
$STATE,2585,end climb,SURFACE_DEPTH_REACHED
$STATE,2585,begin surface coast
$FINISH,0.3,1.012197
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2651,76.53,0.658,1,0,2057,350.04
$SM_GC,0.86,0.00,0.00,76.53,0.000,0.000,0.658,363,2030,2057,-10.34,-0.14,350.04
$IRIDIUM_FIX,4722.92,-12256.21,021007,101041
$TT8_MAMPS,0.025311
$HUMID,2117
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.4,29.1
$24V_AH,24.0,25.359
$10V_AH,10.2,9.279
$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,24.725,49.700,235.800,76.525,0.000,38.250,49.343,83.347,1.500,0.000,0.000,16.356,471.807,1424.357,417.940,424.660,300.108,33.329,695.007,0.000,412.539,0.000,10.053
$DEVICE_MAMPS,148.031,59.826,808.418,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6450,241
$CFSIZE,260034560,249348096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,084250,4739.545,-12252.322,8,1.5,13,18.3