version: 66.02
glider: 23
mission: 2
dive: 324
start: 10 2 107 17 55 21
data:
$ID,23
$MISSION,2
$DIVE,324
$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,-28321.646
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,174933,4739.443,-12252.774,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.4
$GPS2,175357,4739.496,-12252.698,11,1.7,11,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.243,-0.051
$KALMAN_X,19557.4,291.0,-96.9,-19442.7,8.3
$KALMAN_Y,12170.2,254.7,-127.0,-12828.5,24.0
$MHEAD_RNG_PITCHd_Wd,83.6,374,-15.3,-9.048
$D_GRID,123
$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,-1.09,-117.3,0.0,0.0,0,97,0.00,0.00,-72.75,0.000,2,0.000,0.000,368,2053,3492
$GC,101,-1.09,-117.3,2.0,-4.2,12,138,11.15,2.58,-16.60,0.000,4,0.147,0.061,2368,3496,3963
$GC,390,-1.09,-117.3,21.7,-7.4,55,394,0.00,2.40,0.00,0.000,6,0.000,0.035,2368,2089,3965
$GC,585,-1.09,-117.3,34.5,-6.4,70,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2090,3966
$GC,777,-1.09,-117.3,47.2,-6.8,85,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2090,3966
$GC,965,-1.09,-117.3,60.0,-6.9,100,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2090,3966
$GC,1157,-1.09,-117.3,73.7,-6.9,115,1161,0.00,2.47,0.00,0.000,4,0.000,0.050,2368,3504,3966
$GC,1361,-1.09,-117.3,90.7,-8.3,130,1365,0.00,2.40,0.00,0.000,6,0.000,0.037,2368,2095,3966
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1421,-0.31,0.0,95.2,8.0,134,1516,0.85,0.00,91.00,0.748,6,0.087,0.000,2539,1883,3483
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1517,begin climb
$GC,1520,1.09,117.3,97.1,0.0,142,1616,1.42,2.60,89.03,0.724,4,0.069,0.044,2841,3287,3004
$GC,1631,1.14,170.6,91.0,7.2,151,1680,0.00,2.55,39.95,0.716,6,0.000,0.042,2841,1899,2786
$GC,1869,1.14,170.6,69.0,9.2,170,1873,0.00,2.92,0.00,0.000,4,0.000,0.063,2841,471,2786
$GC,1901,1.14,170.6,65.7,10.9,172,1906,0.00,2.70,0.00,0.000,6,0.000,0.028,2841,1879,2786
$GC,2096,1.14,170.6,46.5,10.2,187,2101,0.00,2.90,0.00,0.000,4,0.000,0.059,2841,469,2786
$GC,2129,1.14,170.6,42.9,11.2,189,2134,0.00,2.75,0.00,0.000,6,0.000,0.029,2841,1900,2786
$GC,2324,1.14,170.6,23.1,10.0,204,2329,0.00,2.92,0.00,0.000,4,0.000,0.059,2841,475,2786
$GC,2370,1.14,170.6,18.5,10.1,208,2376,0.00,2.72,0.00,0.000,6,0.000,0.028,2841,1896,2786
$GC,2443,1.17,190.4,11.9,8.4,219,2467,0.10,2.62,14.55,0.696,4,0.056,0.043,2869,3304,2706
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,0.2,1.010613
$STATE,2592,end surface coast,CONTROL_FINISHED_OK
$STATE,2592,begin surface
$SM_CCo,2615,76.15,0.657,0,0,2057,350.04
$SM_GC,0.74,0.00,0.00,76.15,0.000,0.000,0.657,366,2075,2057,-10.32,-0.71,350.04
$IRIDIUM_FIX,4722.92,-12256.21,021007,202025
$TT8_MAMPS,0.026078
$HUMID,2139
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,90.2,28.4
$24V_AH,24.0,26.163
$10V_AH,10.2,9.522
$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,24.850,37.125,234.525,76.150,0.000,39.121,36.682,101.172,2.750,0.000,0.000,13.449,468.891,1399.900,400.091,430.335,302.932,33.329,668.820,0.000,422.251,0.000,10.051
$DEVICE_MAMPS,147.264,62.894,747.825,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6466,242
$CFSIZE,260034560,249081856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,184114,4739.483,-12252.148,12,1.9,17,18.3