version: 66.02
glider: 23
mission: 2
dive: 323
start: 10 2 107 17 0 26
data:
$ID,23
$MISSION,2
$DIVE,323
$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,-28329.676
$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,28
$R_STBD_OVSHOOT,52
$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
$GPS1,165438,4739.453,-12253.271,30,2.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-64.9
$GPS2,165902,4739.483,-12253.243,10,1.9,15,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.258,-0.017
$KALMAN_X,19422.4,305.6,-89.3,-20007.1,-17.2
$KALMAN_Y,12104.1,286.4,-146.7,-12798.7,21.3
$MHEAD_RNG_PITCHd_Wd,75.4,1050,-14.5,-9.048
$D_GRID,117
$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,-78.53,0.000,2,0.000,0.000,364,2063,3609
$GC,107,-1.03,-117.3,2.1,-4.5,13,138,11.25,2.40,-11.95,0.000,4,0.149,0.061,2379,3425,3965
$GC,388,-1.03,-117.3,22.3,-7.7,54,395,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2035,3966
$GC,585,-1.03,-117.3,34.5,-6.1,70,589,0.00,2.42,0.00,0.000,4,0.000,0.048,2379,3419,3966
$GC,743,-1.03,-117.3,46.1,-7.4,81,749,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2024,3966
$GC,939,-1.03,-117.3,58.6,-5.7,97,943,0.00,2.45,0.00,0.000,4,0.000,0.049,2380,3425,3966
$GC,1004,-1.03,-117.3,62.9,-6.5,101,1011,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2032,3966
$GC,1200,-1.03,-117.3,76.8,-7.8,117,1205,0.00,2.92,0.00,0.000,4,0.000,0.054,2379,617,3966
$GC,1220,-1.03,-117.3,78.3,-7.5,118,1225,0.00,2.75,0.00,0.000,6,0.000,0.030,2379,1999,3966
$GC,1416,-1.03,-117.3,91.1,-6.7,133,1420,0.00,2.55,0.00,0.000,4,0.000,0.050,2379,3456,3966
$STATE,1472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1472,begin apogee
$GC,1481,-0.31,0.0,95.2,6.9,137,1576,0.75,0.00,91.28,0.749,6,0.088,0.000,2532,1890,3484
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,1.03,117.3,97.9,0.0,145,1677,1.40,2.92,88.78,0.727,4,0.071,0.058,2829,476,3004
$GC,1705,1.03,117.3,90.2,9.4,155,1710,0.00,2.78,0.00,0.000,6,0.000,0.029,2829,1913,3004
$GC,1902,1.05,127.9,73.0,8.7,170,1915,0.00,2.60,7.57,0.750,4,0.000,0.044,2829,3305,2961
$GC,1954,1.05,127.9,68.0,9.7,174,1958,0.00,2.60,0.00,0.000,6,0.000,0.043,2829,1884,2961
$GC,2150,1.06,138.3,51.1,8.7,189,2163,0.00,2.95,7.50,0.740,4,0.000,0.060,2829,474,2920
$GC,2189,1.06,138.3,47.5,9.5,192,2194,0.00,2.72,0.00,0.000,6,0.000,0.029,2829,1889,2919
$GC,2385,1.06,138.3,29.3,9.7,207,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1893,2919
$GC,2578,1.08,159.1,12.5,8.4,228,2602,0.00,2.97,15.27,0.703,4,0.000,0.059,2828,481,2834
$GC,2616,1.09,170.8,9.1,8.7,234,2634,0.00,2.72,8.68,0.709,6,0.000,0.029,2829,1892,2786
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FINISH,0.1,1.022148
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2801,87.28,0.659,1,0,2056,350.04
$SM_GC,0.87,0.00,0.00,87.28,0.000,0.000,0.659,368,2051,2056,-10.31,0.45,350.04
$IRIDIUM_FIX,4722.92,-12251.79,021007,202030
$TT8_MAMPS,0.026845
$HUMID,2141
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.3,30.8
$24V_AH,24.0,26.091
$10V_AH,10.2,9.501
$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,24.575,48.025,219.075,87.275,0.000,38.077,45.859,89.813,2.250,0.000,0.000,17.382,501.635,1510.673,410.699,477.277,305.139,33.357,706.026,0.000,463.078,0.000,10.054
$DEVICE_MAMPS,148.798,60.593,750.126,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6453,259
$CFSIZE,260034560,249102336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,174933,4739.443,-12252.774,9,1.8,9,18.3