version: 66.02
glider: 23
mission: 2
dive: 386
start: 10 5 107 8 38 57
data:
$ID,23
$MISSION,2
$DIVE,386
$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,110
$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,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,-28258.236
$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,43
$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
$GPS1,081638,4746.132,-12249.735,9,1.6,9,18.3
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.0
$GPS2,083740,4746.128,-12249.761,9,1.7,16,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,0.081
$KALMAN_X,22254.6,-52.2,-45.6,-18179.8,-28.7
$KALMAN_Y,13876.6,-170.2,-34.3,-1919.0,-11.8
$MHEAD_RNG_PITCHd_Wd,275.2,655,-13.6,-7.037
$D_GRID,166
$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,-0.97,-107.5,0.0,0.0,0,117,0.00,0.00,-90.03,0.000,2,0.000,0.000,368,2127,3465
$GC,122,-0.97,-107.5,2.1,-3.4,15,153,11.35,0.00,-14.75,0.000,6,0.150,0.000,2394,2128,3923
$GC,219,-0.97,-107.5,10.2,-10.0,30,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2129,3923
$GC,292,-0.97,-107.5,15.0,-6.0,41,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2129,3924
$GC,364,-0.97,-107.5,19.4,-6.1,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2129,3925
$GC,434,-0.97,-107.5,23.5,-5.9,59,439,0.00,3.00,0.00,0.000,4,0.000,0.048,2394,679,3925
$GC,467,-0.97,-107.5,25.5,-6.2,61,472,0.00,2.85,0.00,0.000,6,0.000,0.030,2394,2096,3925
$GC,663,-0.97,-107.5,36.9,-5.7,76,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2095,3925
$GC,856,-0.97,-107.5,48.6,-6.3,91,861,0.00,2.95,0.00,0.000,4,0.000,0.049,2395,683,3925
$GC,889,-0.97,-107.5,51.0,-6.4,93,894,0.00,2.85,0.00,0.000,6,0.000,0.030,2394,2102,3925
$GC,1085,-0.97,-107.5,63.1,-6.4,108,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2101,3926
$GC,1278,-0.97,-107.5,74.4,-5.9,123,1283,0.00,2.95,0.00,0.000,4,0.000,0.050,2395,688,3925
$GC,1311,-0.97,-107.5,76.7,-6.2,125,1316,0.00,2.85,0.00,0.000,6,0.000,0.031,2395,2107,3926
$GC,1507,-0.97,-107.5,88.8,-6.2,140,1511,0.00,2.97,0.00,0.000,4,0.000,0.050,2395,682,3926
$GC,1559,-0.97,-107.5,92.1,-6.9,143,1565,0.00,2.88,0.00,0.000,6,0.000,0.031,2395,2110,3926
$STATE,1613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1613,begin apogee
$GC,1620,-0.31,0.0,95.5,6.0,148,1706,0.73,0.00,82.57,0.749,6,0.084,0.000,2541,1875,3484
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1710,0.97,107.5,97.0,0.0,155,1795,1.30,0.00,81.28,0.729,6,0.065,0.000,2818,1875,3045
$GC,1985,0.97,107.5,78.8,8.0,177,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1875,3044
$GC,2175,0.97,107.5,63.7,7.8,192,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1876,3044
$GC,2365,0.97,107.5,49.1,7.8,207,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1875,3044
$GC,2554,0.97,107.5,34.6,7.6,222,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1876,3044
$GC,2745,0.97,107.5,20.2,7.7,237,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1875,3044
$GC,2939,1.05,181.0,7.2,4.4,266,2994,0.00,0.00,53.03,0.683,2,0.000,0.000,2818,1875,2749
$STATE,2995,end climb,SURFACE_DEPTH_REACHED
$STATE,2995,begin surface coast
$FINISH,0.2,1.013686
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3142,127.72,0.643,0,0,1649,450.13
$SM_GC,0.85,0.00,0.00,127.72,0.000,0.000,0.643,365,2118,1649,-10.33,0.48,450.13
$IRIDIUM_FIX,4729.30,-12252.58,051007,121246
$TT8_MAMPS,0.026845
$HUMID,2121
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,31.663
$10V_AH,10.2,11.095
$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,24.500,24.250,216.875,127.725,0.000,189.744,274.725,419.987,2.000,0.000,0.000,18.383,548.730,2020.883,443.691,483.428,1073.499,33.346,738.694,0.000,471.694,0.000,7.063
$DEVICE_MAMPS,149.565,49.855,749.359,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6465,294
$CFSIZE,260034560,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,093441,4746.260,-12250.243,8,2.8,28,18.3