version: 66.02
glider: 23
mission: 2
dive: 399
start: 10 5 107 22 33 31
data:
$ID,23
$MISSION,2
$DIVE,399
$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,712.3512
$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,-28276.523
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,221335,4746.132,-12249.910,6,2.1,25,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-69.3
$GPS2,223214,4746.134,-12249.925,15,1.3,15,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.199,-0.042
$KALMAN_X,22016.5,4.3,-5.6,-18243.5,18.5
$KALMAN_Y,13730.9,68.6,23.3,-2056.9,37.8
$MHEAD_RNG_PITCHd_Wd,83.5,1555,-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,22,begin dive
$GC,25,-0.97,-107.5,0.0,0.0,0,118,0.00,0.00,-90.22,0.000,2,0.000,0.000,367,2089,3516
$GC,123,-0.97,-107.5,2.2,-3.4,15,155,11.32,2.92,-13.25,0.000,4,0.148,0.059,2392,694,3924
$GC,233,-0.97,-107.5,10.6,-8.6,32,240,0.00,2.85,0.00,0.000,6,0.000,0.030,2394,2107,3923
$GC,306,-0.97,-107.5,15.1,-5.9,43,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2107,3923
$GC,380,-0.97,-107.5,19.1,-5.5,54,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2106,3924
$GC,450,-0.97,-107.5,22.9,-5.1,61,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2106,3924
$GC,643,-0.97,-107.5,33.3,-5.6,76,648,0.00,2.97,0.00,0.000,4,0.000,0.049,2394,687,3925
$GC,668,-0.97,-107.5,35.0,-5.9,77,675,0.00,2.85,0.00,0.000,6,0.000,0.030,2394,2105,3925
$GC,865,-0.97,-107.5,46.3,-5.9,93,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2104,3925
$GC,1056,-0.97,-107.5,57.4,-5.8,108,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2104,3926
$GC,1246,-0.97,-107.5,68.3,-5.7,123,1250,0.00,2.97,0.00,0.000,4,0.000,0.051,2394,686,3925
$GC,1305,-0.97,-107.5,72.0,-6.1,127,1310,0.00,2.85,0.00,0.000,6,0.000,0.031,2394,2106,3926
$GC,1501,-0.97,-107.5,83.2,-5.6,142,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2106,3925
$GC,1692,-0.97,-107.5,93.8,-5.4,157,1697,0.00,2.95,0.00,0.000,4,0.000,0.050,2394,691,3926
$STATE,1708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1718,-0.31,0.0,95.0,5.4,158,1808,0.70,0.00,82.82,0.750,6,0.086,0.000,2539,1898,3484
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1812,0.97,107.5,96.6,0.0,166,1897,1.33,0.00,81.43,0.730,6,0.065,0.000,2817,1898,3046
$GC,2082,0.97,107.5,77.8,7.8,188,2087,0.00,2.92,0.00,0.000,4,0.000,0.057,2817,477,3045
$GC,2107,0.97,107.5,75.6,8.7,189,2114,0.00,2.75,0.00,0.000,6,0.000,0.029,2817,1895,3045
$GC,2304,0.97,107.5,60.0,7.8,205,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1897,3045
$GC,2495,0.97,107.5,45.5,7.7,220,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1897,3044
$GC,2686,0.97,107.5,31.1,7.7,235,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1897,3044
$GC,2872,0.97,107.5,17.5,7.3,252,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1897,3044
$GC,2945,0.97,110.6,12.2,6.9,263,2952,0.00,2.60,2.08,0.794,4,0.000,0.046,2817,3295,3033
$GC,2985,0.97,110.6,9.2,7.5,269,2992,0.00,2.50,0.00,0.000,6,0.000,0.037,2817,1896,3031
$GC,3059,1.05,186.4,5.4,4.3,280,3072,0.10,0.00,10.93,0.713,2,0.054,0.000,2845,1896,2971
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3073,begin surface coast
$FINISH,0.2,1.021711
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3227,278.92,0.631,0,0,580,712.35
$SM_GC,0.76,0.00,0.00,278.92,0.000,0.000,0.631,366,2123,580,-10.32,0.65,712.35
$IRIDIUM_FIX,4726.11,-12248.15,061007,020229
$TT8_MAMPS,0.026845
$HUMID,2116
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,32.789
$10V_AH,10.2,11.440
$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,24.700,34.050,177.250,278.925,0.000,198.573,416.351,149.834,2.000,0.000,0.000,16.716,572.161,2083.469,585.506,483.670,939.070,33.370,878.257,0.000,475.301,0.000,7.065
$DEVICE_MAMPS,148.031,59.059,793.845,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,203.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,9570,302
$CFSIZE,260034560,247119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,233307,4746.084,-12249.435,24,1.4,25,18.3