version: 66.02
glider: 23
mission: 2
dive: 404
start: 10 6 107 4 30 32
data:
$ID,23
$MISSION,2
$DIVE,404
$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,-28246.195
$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,27
$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
$GPS1,042435,4746.167,-12249.190,11,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-69.7
$GPS2,042915,4746.163,-12249.204,16,1.2,16,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,0.062
$KALMAN_X,21902.2,27.4,-9.5,-17250.1,-46.8
$KALMAN_Y,13324.7,-2.1,-69.2,-1435.6,-90.1
$MHEAD_RNG_PITCHd_Wd,269.3,1315,-13.6,-7.037
$D_GRID,162
$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,25,-0.97,-107.5,0.0,0.0,0,111,0.00,0.00,-84.40,0.000,2,0.000,0.000,365,2069,3392
$GC,115,-0.97,-107.5,2.1,-3.0,14,152,11.40,2.53,-17.85,0.000,4,0.150,0.061,2392,3503,3924
$GC,404,-0.97,-107.5,22.5,-6.8,56,408,0.00,2.40,0.00,0.000,6,0.000,0.035,2392,2094,3924
$GC,600,-0.97,-107.5,34.5,-6.0,71,604,0.00,2.47,0.00,0.000,4,0.000,0.050,2392,3505,3925
$GC,673,-0.97,-107.5,39.4,-7.0,76,677,0.00,2.40,0.00,0.000,6,0.000,0.035,2392,2095,3925
$GC,869,-0.97,-107.5,51.6,-6.0,91,874,0.00,2.95,0.00,0.000,4,0.000,0.053,2392,682,3925
$GC,902,-0.97,-107.5,53.8,-6.5,93,907,0.00,2.85,0.00,0.000,6,0.000,0.031,2392,2098,3924
$GC,1098,-0.97,-107.5,65.9,-6.1,108,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2097,3926
$GC,1290,-0.97,-107.5,77.7,-6.3,123,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2097,3926
$GC,1477,-0.97,-107.5,88.9,-5.9,138,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2097,3926
$STATE,1587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1587,begin apogee
$GC,1595,-0.31,0.0,95.7,6.0,147,1680,0.73,0.00,82.28,0.745,6,0.086,0.000,2538,1879,3484
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1684,0.97,107.5,97.3,0.0,154,1769,1.33,0.00,81.22,0.730,6,0.071,0.000,2817,1879,3045
$GC,1953,0.97,107.5,79.3,7.7,176,1957,0.00,2.60,0.00,0.000,4,0.000,0.045,2817,3301,3045
$GC,1992,0.97,107.5,75.9,8.5,178,1998,0.00,2.55,0.00,0.000,6,0.000,0.039,2817,1895,3045
$GC,2188,0.97,107.5,60.1,8.1,194,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1895,3045
$GC,2379,0.97,107.5,45.4,7.5,209,2384,0.00,2.88,0.00,0.000,4,0.000,0.060,2817,474,3044
$GC,2404,0.97,107.5,43.0,8.3,210,2411,0.00,2.75,0.00,0.000,6,0.000,0.028,2817,1902,3045
$GC,2601,0.97,107.5,28.3,7.3,226,2605,0.00,2.53,0.00,0.000,4,0.000,0.046,2817,3298,3045
$GC,2641,0.97,107.5,25.1,8.2,228,2647,0.00,2.55,0.00,0.000,6,0.000,0.038,2817,1877,3045
$GC,2843,0.98,117.8,10.9,6.7,253,2854,0.00,0.00,7.38,0.728,6,0.000,0.000,2817,1878,3003
$GC,2923,1.06,193.9,6.5,4.3,265,2954,0.10,0.00,28.98,0.692,2,0.056,0.000,2845,1878,2842
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,0.3,1.001004
$STATE,3065,end surface coast,CONTROL_FINISHED_OK
$STATE,3066,begin surface
$SM_CCo,3088,138.88,0.640,0,0,1649,450.13
$SM_GC,0.96,0.00,0.00,138.88,0.000,0.000,0.640,364,2116,1649,-10.33,0.45,450.13
$IRIDIUM_FIX,4735.69,-12547.94,061007,070715
$TT8_MAMPS,0.026845
$HUMID,2117
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.7,999.0
$24V_AH,24.0,33.279
$10V_AH,10.2,11.587
$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,24.825,32.375,199.850,138.875,0.000,41.093,35.571,101.703,1.250,0.000,0.000,17.514,542.192,1751.084,444.115,478.665,329.279,33.345,731.713,0.000,468.982,0.000,11.332
$DEVICE_MAMPS,149.565,61.360,744.757,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6437,287
$CFSIZE,260034560,246996992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,052532,4746.268,-12249.585,10,1.6,27,18.3