version: 66.02
glider: 23
mission: 2
dive: 328
start: 10 2 107 21 42 29
data:
$ID,23
$MISSION,2
$DIVE,328
$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,-28337.832
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,212527,4739.528,-12252.296,9,1.5,9,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.8
$GPS2,214107,4739.699,-12251.947,13,1.0,29,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,-0.150
$KALMAN_X,20850.2,348.6,150.0,-20109.4,171.4
$KALMAN_Y,13090.5,232.8,150.7,-13633.6,109.6
$MHEAD_RNG_PITCHd_Wd,216.2,712,-14.5,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-72.72,0.000,2,0.000,0.000,367,2106,3507
$GC,103,-1.03,-117.3,2.2,-4.7,12,139,11.30,2.50,-15.65,0.000,4,0.151,0.061,2380,3509,3964
$GC,391,-1.03,-117.3,24.2,-7.2,52,395,0.00,2.38,0.00,0.000,6,0.000,0.034,2380,2099,3965
$GC,587,-1.03,-117.3,37.3,-6.9,67,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2099,3967
$GC,778,-1.03,-117.3,50.4,-6.8,82,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2099,3967
$GC,967,-1.03,-117.3,63.1,-6.4,97,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2099,3967
$GC,1156,-1.03,-117.3,74.6,-6.0,112,1161,0.00,2.92,0.00,0.000,4,0.000,0.052,2380,685,3967
$GC,1216,-1.03,-117.3,78.9,-7.1,116,1220,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2109,3966
$GC,1412,-1.03,-117.3,92.4,-6.9,131,1417,0.00,2.95,0.00,0.000,4,0.000,0.050,2379,688,3966
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1456,-0.31,0.0,95.4,7.7,133,1551,0.75,0.00,91.10,0.749,6,0.087,0.000,2534,1901,3484
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1552,begin climb
$GC,1554,1.03,117.3,98.4,0.0,141,1647,1.40,0.00,88.97,0.726,6,0.067,0.000,2831,1901,3004
$GC,1834,1.05,127.7,76.3,8.7,164,1847,0.00,3.00,7.45,0.754,4,0.000,0.058,2831,485,2962
$GC,1900,1.05,127.7,69.7,10.4,169,1905,0.00,2.72,0.00,0.000,6,0.000,0.028,2831,1891,2961
$GC,2095,1.05,127.7,50.7,9.2,184,2100,0.00,2.90,0.00,0.000,4,0.000,0.058,2831,481,2961
$GC,2134,1.05,127.7,46.8,10.0,186,2141,0.00,2.72,0.00,0.000,6,0.000,0.029,2830,1891,2961
$GC,2330,1.05,131.4,29.4,8.9,202,2342,0.00,2.97,2.25,0.790,4,0.000,0.058,2831,477,2948
$GC,2361,1.05,131.4,26.4,9.1,204,2368,0.00,2.75,0.00,0.000,6,0.000,0.029,2831,1899,2948
$GC,2563,1.09,172.3,8.5,7.7,229,2600,0.00,2.55,30.50,0.687,4,0.000,0.043,2831,3298,2780
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,0.4,1.021669
$STATE,2658,end surface coast,CONTROL_FINISHED_OK
$STATE,2658,begin surface
$SM_CCo,2681,87.47,0.654,0,0,2056,350.04
$SM_GC,0.79,0.00,0.00,87.47,0.000,0.000,0.654,368,2082,2056,-10.31,-0.51,350.04
$IRIDIUM_FIX,4722.92,-12253.53,031007,010126
$TT8_MAMPS,0.026845
$HUMID,2132
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,26.469
$10V_AH,10.2,9.615
$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,24.600,37.800,220.275,87.475,0.000,153.463,347.401,152.241,2.250,0.000,0.000,31.343,465.750,1664.348,408.002,435.991,780.667,33.337,665.406,0.000,410.567,0.000,8.675
$DEVICE_MAMPS,151.099,61.360,790.010,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,163.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6427,244
$CFSIZE,260034560,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,222933,4739.583,-12252.104,10,2.0,10,18.3