version: 66.02
glider: 23
mission: 2
dive: 392
start: 10 5 107 15 6 1
data:
$ID,23
$MISSION,2
$DIVE,392
$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,-28275.279
$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,53
$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
$GPS1,150002,4746.173,-12248.664,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.9
$GPS2,150444,4746.167,-12248.660,15,1.4,33,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,-0.193
$KALMAN_X,22018.6,-66.6,24.4,-16628.6,-47.7
$KALMAN_Y,13664.9,-59.1,21.0,-1800.8,-59.6
$MHEAD_RNG_PITCHd_Wd,157.4,269,-14.7,-7.037
$D_GRID,136
$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,-107.5,0.0,0.0,0,112,0.00,0.00,-84.88,0.000,2,0.000,0.000,367,2129,3403
$GC,115,-1.03,-107.5,2.1,-3.5,14,152,11.30,2.40,-16.95,0.000,4,0.150,0.062,2380,3479,3924
$GC,403,-1.03,-107.5,26.0,-7.3,52,408,0.00,2.38,0.00,0.000,6,0.000,0.035,2380,2089,3924
$GC,599,-1.03,-107.5,39.4,-6.5,67,603,0.00,2.45,0.00,0.000,4,0.000,0.049,2381,3487,3924
$GC,645,-1.03,-107.5,42.7,-7.5,70,649,0.00,2.38,0.00,0.000,6,0.000,0.035,2380,2094,3924
$GC,841,-1.03,-107.5,55.6,-6.5,85,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2094,3924
$GC,1034,-1.03,-107.5,68.2,-6.8,100,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2094,3923
$GC,1219,-1.03,-107.5,80.6,-6.5,115,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2094,3924
$GC,1412,-1.03,-107.5,92.6,-6.8,130,1417,0.00,2.92,0.00,0.000,4,0.000,0.053,2381,695,3924
$STATE,1588,end dive,NO_VERTICAL_VELOCITY
$STATE,1588,begin apogee
$GC,1597,-0.31,0.0,94.9,0.0,143,1687,0.73,0.00,82.75,0.746,6,0.057,0.000,2541,1849,3484
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,1.03,107.5,94.9,0.0,151,1784,1.38,2.83,81.05,0.730,4,0.060,0.051,2834,3321,3044
$GC,1828,1.03,107.5,88.1,8.2,162,1835,0.00,2.62,0.00,0.000,6,0.000,0.038,2834,1894,3043
$GC,2025,1.03,107.5,71.6,8.8,178,2029,0.00,2.60,0.00,0.000,4,0.000,0.047,2834,3312,3043
$GC,2098,1.03,107.5,65.3,9.1,183,2102,0.00,2.60,0.00,0.000,6,0.000,0.039,2834,1878,3043
$GC,2295,1.03,107.5,49.8,8.0,198,2299,0.00,2.62,0.00,0.000,4,0.000,0.046,2834,3317,3042
$GC,2400,1.03,107.5,40.6,9.3,205,2406,0.00,2.58,0.00,0.000,6,0.000,0.039,2834,1893,3042
$GC,2595,1.03,107.5,24.4,8.1,221,2600,0.00,2.60,0.00,0.000,4,0.000,0.045,2834,3323,3043
$GC,2634,1.03,107.5,21.1,8.6,223,2641,0.00,2.60,0.00,0.000,6,0.000,0.039,2833,1882,3043
$GC,2839,1.09,157.5,6.8,5.0,253,2883,0.00,2.90,36.65,0.686,4,0.000,0.058,2834,480,2839
$STATE,2887,end climb,SURFACE_DEPTH_REACHED
$STATE,2887,begin surface coast
$FINISH,3.5,1.022033
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2933,141.62,0.646,2,0,1649,450.13
$SM_GC,0.71,0.00,0.00,141.62,0.000,0.000,0.646,367,2121,1649,-10.32,0.59,450.13
$IRIDIUM_FIX,4726.11,-12250.84,051007,181833
$TT8_MAMPS,0.026845
$HUMID,2116
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,32.8
$24V_AH,24.0,32.165
$10V_AH,10.2,11.252
$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,24.825,42.100,200.450,141.625,0.000,38.293,36.415,92.520,1.000,0.000,0.000,35.252,507.853,1615.550,464.424,507.301,310.972,33.345,759.039,0.000,478.427,0.000,6.968
$DEVICE_MAMPS,149.565,62.127,746.291,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6422,264
$CFSIZE,260034560,247324672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,051007,155837,4745.890,-12248.583,9,1.7,25,18.3