version: 66.02
glider: 23
mission: 2
dive: 401
start: 10 6 107 0 58 38
data:
$ID,23
$MISSION,2
$DIVE,401
$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,-28242.52
$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,40
$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
$GPS1,005237,4746.016,-12248.961,27,1.4,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.5
$GPS2,005721,4746.012,-12248.964,12,1.4,12,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.032
$KALMAN_X,22080.7,29.4,4.8,-17145.9,21.9
$KALMAN_Y,13642.1,72.5,35.3,-2211.2,-34.5
$MHEAD_RNG_PITCHd_Wd,62.2,346,-14.7,-7.037
$D_GRID,159
$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,-107.5,0.0,0.0,0,118,0.00,0.00,-90.65,0.000,2,0.000,0.000,369,2116,3519
$GC,123,-1.03,-107.5,2.2,-3.8,15,154,11.27,2.42,-12.35,0.000,4,0.150,0.061,2379,3495,3924
$GC,405,-1.03,-107.5,24.5,-7.2,53,411,0.00,2.40,0.00,0.000,6,0.000,0.034,2379,2080,3924
$GC,601,-1.03,-107.5,37.0,-6.5,69,605,0.00,2.47,0.00,0.000,4,0.000,0.050,2379,3495,3924
$GC,753,-1.03,-107.5,47.5,-7.0,80,757,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2097,3924
$GC,956,-1.03,-107.5,60.8,-6.6,96,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2097,3925
$GC,1149,-1.03,-107.5,73.1,-6.6,111,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2097,3925
$GC,1334,-1.03,-107.5,85.4,-6.4,126,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2097,3925
$STATE,1495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1495,begin apogee
$GC,1501,-0.31,0.0,95.5,6.2,139,1587,0.80,0.00,82.50,0.749,6,0.091,0.000,2539,1886,3485
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1592,1.03,107.5,97.3,0.0,146,1681,1.38,2.65,80.88,0.730,4,0.066,0.045,2831,3289,3045
$GC,1715,1.03,107.5,89.7,8.8,156,1720,0.00,2.55,0.00,0.000,6,0.000,0.041,2831,1893,3044
$GC,1911,1.03,107.5,72.8,8.7,171,1915,0.00,2.92,0.00,0.000,4,0.000,0.061,2831,465,3044
$GC,1957,1.03,107.5,68.7,9.3,174,1961,0.00,2.72,0.00,0.000,6,0.000,0.029,2831,1872,3044
$GC,2152,1.03,107.5,52.0,8.4,189,2157,0.00,2.60,0.00,0.000,4,0.000,0.047,2831,3305,3044
$GC,2217,1.03,107.5,46.3,9.1,193,2224,0.00,2.58,0.00,0.000,6,0.000,0.038,2832,1894,3044
$GC,2413,1.03,107.5,30.1,8.1,209,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1895,3044
$GC,2606,1.03,107.5,14.8,7.5,229,2612,0.00,2.58,0.00,0.000,4,0.000,0.045,2831,3316,3044
$GC,2665,1.03,107.5,10.3,7.5,238,2672,0.00,2.58,0.00,0.000,6,0.000,0.038,2831,1878,3044
$GC,2738,1.07,141.4,5.8,5.7,249,2757,0.00,0.00,17.02,0.705,2,0.000,0.000,2831,1878,2949
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,0.3,1.010599
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2898,152.32,0.641,0,0,1649,450.13
$SM_GC,0.92,0.00,0.00,152.32,0.000,0.000,0.641,369,2131,1649,-10.31,0.88,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,030327
$TT8_MAMPS,0.026845
$HUMID,2137
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.5,34.4
$24V_AH,24.0,32.969
$10V_AH,10.2,11.497
$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,24.625,31.775,180.400,152.325,0.000,40.044,39.817,103.011,1.000,0.000,0.000,14.103,513.758,1619.346,433.199,473.057,333.598,33.340,719.519,0.000,465.838,0.000,5.541
$DEVICE_MAMPS,149.565,61.360,748.592,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6433,270
$CFSIZE,260034560,247083008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,015026,4745.941,-12248.600,12,1.6,12,18.3