version: 66.02
glider: 23
mission: 2
dive: 405
start: 10 6 107 5 31 14
data:
$ID,23
$MISSION,2
$DIVE,405
$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,-28238.088
$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,22
$R_STBD_OVSHOOT,42
$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
$GPS1,052532,4746.268,-12249.585,10,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,052957,4746.257,-12249.594,14,1.8,14,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.203,0.004
$KALMAN_X,21946.5,19.4,-21.8,-17761.5,-3.0
$KALMAN_Y,13371.6,-31.6,-93.5,-1255.6,-9.8
$MHEAD_RNG_PITCHd_Wd,252.8,818,-13.6,-7.037
$D_GRID,164
$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,-107.5,0.0,0.0,0,111,0.00,0.00,-84.88,0.000,2,0.000,0.000,364,2117,3409
$GC,115,-0.97,-107.5,2.2,-3.6,14,152,11.40,2.45,-17.15,0.000,4,0.150,0.061,2393,3497,3924
$GC,404,-0.97,-107.5,22.6,-6.6,56,408,0.00,2.40,0.00,0.000,6,0.000,0.035,2393,2084,3924
$GC,600,-0.97,-107.5,34.9,-6.4,71,604,0.00,2.47,0.00,0.000,4,0.000,0.050,2394,3496,3925
$GC,712,-0.97,-107.5,42.7,-7.3,79,716,0.00,2.38,0.00,0.000,6,0.000,0.035,2394,2100,3925
$GC,908,-0.97,-107.5,54.9,-6.2,94,913,0.00,2.92,0.00,0.000,4,0.000,0.053,2393,689,3925
$GC,934,-0.97,-107.5,56.6,-6.5,95,941,0.00,2.83,0.00,0.000,6,0.000,0.030,2393,2089,3925
$GC,1130,-0.97,-107.5,68.3,-5.8,111,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2089,3925
$GC,1322,-0.97,-107.5,79.3,-5.9,126,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2087,3925
$GC,1511,-0.97,-107.5,90.6,-5.9,141,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2088,3925
$STATE,1594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1594,begin apogee
$GC,1601,-0.31,0.0,95.6,5.7,148,1687,0.73,0.00,82.75,0.748,6,0.086,0.000,2539,1883,3484
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,0.97,107.5,96.9,0.0,155,1782,1.30,2.67,81.03,0.731,4,0.066,0.046,2817,3294,3045
$GC,1798,0.97,107.5,91.3,7.6,164,1802,0.00,2.55,0.00,0.000,6,0.000,0.039,2817,1901,3045
$GC,1994,0.97,107.5,75.4,7.9,179,1998,0.00,2.92,0.00,0.000,4,0.000,0.061,2817,467,3045
$GC,2013,0.97,107.5,73.7,8.3,180,2018,0.00,2.75,0.00,0.000,6,0.000,0.029,2818,1890,3045
$GC,2209,0.97,107.5,57.9,7.8,195,2213,0.00,2.58,0.00,0.000,4,0.000,0.047,2816,3310,3045
$GC,2241,0.97,107.5,55.3,8.4,197,2246,0.00,2.58,0.00,0.000,6,0.000,0.039,2817,1887,3045
$GC,2437,0.97,107.5,40.4,7.4,212,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1886,3044
$GC,2628,0.97,107.5,26.5,7.1,227,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1886,3044
$GC,2820,0.97,108.1,12.7,7.0,249,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1886,3044
$GC,2893,1.02,156.9,8.3,5.3,260,2936,0.00,2.62,36.15,0.693,4,0.000,0.045,2816,3306,2844
$STATE,2953,end climb,SURFACE_DEPTH_REACHED
$STATE,2954,begin surface coast
$FINISH,4.3,1.022038
$STATE,2967,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2992,145.05,0.642,1,0,1649,450.13
$SM_GC,0.82,0.00,0.00,145.05,0.000,0.000,0.642,365,2082,1649,-10.33,-0.51,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,080824
$TT8_MAMPS,0.026845
$HUMID,2105
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.0,33.355
$10V_AH,10.2,11.610
$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,24.800,36.725,199.925,145.050,0.000,38.695,35.601,94.360,1.250,0.000,0.000,15.672,517.152,1696.335,455.358,461.615,315.306,33.342,740.150,0.000,451.668,0.000,9.056
$DEVICE_MAMPS,149.565,60.593,747.825,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6460,272
$CFSIZE,260034560,246976512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061007,062433,4746.304,-12249.978,11,1.0,11,18.3