version: 66.02
glider: 23
mission: 2
dive: 377
start: 10 4 107 21 18 5
data:
$ID,23
$MISSION,2
$DIVE,377
$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,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,450
$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,-28283.906
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,210607,4746.170,-12250.089,12,1.0,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-69.6
$GPS2,211650,4746.159,-12250.086,13,0.9,13,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,0.209
$KALMAN_X,22632.0,-78.1,-29.0,-18953.3,-24.3
$KALMAN_Y,14659.7,29.8,-16.8,-2859.9,-61.3
$MHEAD_RNG_PITCHd_Wd,304.4,275,-8.6,-7.037
$D_GRID,161
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.65,-97.8,0.0,0.0,0,125,0.00,0.00,-96.62,0.000,2,0.000,0.000,369,2102,3604
$GC,130,-0.65,-97.8,2.1,-3.5,16,156,11.73,3.05,-8.45,0.000,4,0.148,0.060,2465,682,3885
$GC,229,-0.65,-97.8,9.1,-6.1,31,235,0.00,2.88,0.00,0.000,6,0.000,0.030,2466,2114,3885
$GC,302,-0.65,-97.8,13.2,-5.6,42,308,0.00,2.45,0.00,0.000,4,0.000,0.052,2466,3511,3885
$GC,375,-0.65,-97.8,16.9,-5.0,53,381,0.00,2.42,0.00,0.000,6,0.000,0.033,2466,2081,3886
$GC,448,-0.65,-97.8,19.3,-3.4,64,454,0.00,2.90,0.00,0.000,4,0.000,0.051,2466,684,3886
$GC,487,-0.65,-97.8,21.0,-3.7,69,492,0.00,2.85,0.00,0.000,6,0.000,0.029,2466,2103,3885
$GC,683,-0.65,-97.8,27.8,-3.5,84,688,0.00,2.92,0.00,0.000,4,0.000,0.048,2466,693,3886
$GC,721,-0.65,-97.8,29.2,-3.4,86,728,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2110,3886
$GC,919,-0.65,-97.8,36.2,-3.6,102,923,0.00,2.95,0.00,0.000,4,0.000,0.048,2466,694,3886
$GC,965,-0.65,-97.8,37.9,-4.1,105,969,0.00,2.85,0.00,0.000,6,0.000,0.031,2466,2112,3886
$GC,1161,-0.65,-97.8,44.9,-3.4,120,1165,0.00,2.97,0.00,0.000,4,0.000,0.048,2466,684,3886
$GC,1194,-0.65,-97.8,46.0,-3.5,122,1198,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2102,3886
$GC,1389,-0.65,-97.8,52.9,-3.5,137,1394,0.00,2.95,0.00,0.000,4,0.000,0.049,2466,684,3887
$GC,1443,-0.65,-97.8,54.9,-4.0,140,1449,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2107,3886
$GC,1639,-0.65,-97.8,61.7,-3.4,156,1643,0.00,2.95,0.00,0.000,4,0.000,0.049,2466,694,3887
$GC,1677,-0.65,-97.8,63.3,-3.9,158,1684,0.00,2.85,0.00,0.000,6,0.000,0.031,2466,2110,3887
$GC,1874,-0.65,-97.8,70.0,-3.3,174,1879,0.00,2.95,0.00,0.000,4,0.000,0.048,2466,693,3886
$GC,1913,-0.65,-97.8,71.4,-3.5,176,1919,0.00,2.85,0.00,0.000,6,0.000,0.031,2466,2111,3887
$GC,2109,-0.65,-97.8,78.0,-3.4,192,2114,0.00,2.97,0.00,0.000,4,0.000,0.049,2466,684,3887
$GC,2161,-0.65,-97.8,79.9,-3.8,195,2171,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2100,3887
$GC,2357,-0.65,-97.8,86.8,-3.7,211,2362,0.00,2.95,0.00,0.000,4,0.000,0.049,2466,686,3887
$GC,2417,-0.65,-97.8,88.9,-3.9,215,2422,0.00,2.85,0.00,0.000,6,0.000,0.031,2466,2105,3887
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2617,-0.31,0.0,95.3,3.0,230,2697,0.38,0.00,75.72,0.746,6,0.091,0.000,2540,1885,3484
$STATE,2698,end apogee,CONTROL_FINISHED_OK
$STATE,2698,begin climb
$GC,2701,0.65,97.8,96.4,0.0,237,2786,0.98,2.72,73.72,0.726,4,0.066,0.048,2748,3307,3085
$GC,2805,0.73,170.3,92.4,5.6,245,2865,0.00,2.55,54.80,0.716,6,0.000,0.037,2748,1902,2789
$GC,3056,0.80,238.2,77.9,5.7,265,3118,0.17,2.67,50.88,0.706,4,0.057,0.048,2791,3300,2511
$GC,3160,0.80,238.2,70.7,7.4,273,3164,0.00,2.58,0.00,0.000,6,0.000,0.040,2791,1892,2511
$GC,3355,0.80,238.2,55.5,7.7,288,3360,0.00,2.90,0.00,0.000,4,0.000,0.062,2791,477,2510
$GC,3427,0.80,238.2,49.5,8.6,293,3432,0.00,2.72,0.00,0.000,6,0.000,0.029,2791,1893,2511
$GC,3623,0.80,238.2,34.3,7.9,308,3627,0.00,2.92,0.00,0.000,4,0.000,0.060,2791,472,2511
$GC,3661,0.80,238.2,31.0,8.4,310,3668,0.00,2.75,0.00,0.000,6,0.000,0.029,2791,1899,2511
$GC,3859,0.81,243.6,16.3,6.9,329,3872,0.00,2.97,3.47,0.753,4,0.000,0.060,2791,480,2490
$GC,3912,0.84,279.2,13.0,6.3,337,3949,0.00,2.72,26.70,0.683,6,0.000,0.030,2791,1895,2344
$GC,4015,0.95,375.3,7.5,5.1,353,4059,0.12,0.00,40.88,0.667,2,0.063,0.000,2819,1895,2118
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FINISH,0.2,1.002659
$STATE,4144,end surface coast,CONTROL_FINISHED_OK
$STATE,4144,begin surface
$SM_CCo,4167,56.38,0.647,0,0,1649,450.13
$SM_GC,0.76,0.00,0.00,56.38,0.000,0.000,0.647,366,2125,1649,-10.32,0.71,450.13
$IRIDIUM_FIX,4726.11,-12315.66,051007,010153
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.0,30.733
$10V_AH,10.2,10.820
$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,24.475,91.375,326.175,56.375,0.000,81.931,80.200,320.849,1.750,0.000,0.000,14.938,693.638,2347.290,509.218,678.770,675.897,33.325,943.274,0.000,661.239,0.000,7.072
$DEVICE_MAMPS,148.031,62.127,753.194,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,249.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,9596,373
$CFSIZE,260034560,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,222938,4746.389,-12250.311,24,1.7,25,18.3