version: 66.02
glider: 23
mission: 2
dive: 406
start: 10 6 107 6 30 20
data:
$ID,23
$MISSION,2
$DIVE,406
$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,-28229.236
$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,25
$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
$GPS1,062433,4746.304,-12249.978,11,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.1
$GPS2,062903,4746.300,-12249.989,12,1.1,12,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,-0.059
$KALMAN_X,21993.9,17.9,-19.2,-18303.0,14.4
$KALMAN_Y,13430.6,-43.9,-80.7,-1235.1,30.6
$MHEAD_RNG_PITCHd_Wd,233.8,336,-14.7,-7.037
$D_GRID,158
$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,-107.5,0.0,0.0,0,111,0.00,0.00,-84.85,0.000,2,0.000,0.000,366,2082,3410
$GC,115,-1.03,-107.5,2.2,-3.5,14,152,11.35,2.55,-16.90,0.000,4,0.151,0.061,2378,3509,3924
$GC,404,-1.03,-107.5,25.1,-8.0,53,408,0.00,2.42,0.00,0.000,6,0.000,0.035,2378,2088,3924
$GC,600,-1.03,-107.5,38.6,-6.9,68,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2089,3924
$GC,791,-1.03,-107.5,51.4,-6.8,83,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2088,3924
$GC,980,-1.03,-107.5,63.9,-6.3,98,984,0.00,2.50,0.00,0.000,4,0.000,0.051,2378,3515,3924
$GC,1026,-1.03,-107.5,67.3,-7.4,101,1030,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2102,3924
$GC,1229,-1.03,-107.5,80.8,-6.4,117,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2101,3924
$GC,1421,-1.03,-107.5,93.3,-6.5,132,1426,0.00,2.95,0.00,0.000,4,0.000,0.054,2378,686,3924
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1452,-0.31,0.0,95.2,6.5,133,1543,0.77,0.00,82.75,0.749,6,0.087,0.000,2537,1898,3484
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1547,1.03,107.5,97.0,0.0,141,1632,1.40,0.00,81.45,0.732,6,0.064,0.000,2832,1898,3045
$GC,1816,1.03,107.5,77.5,8.4,163,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3045
$GC,2007,1.03,107.5,61.1,8.6,178,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1898,3045
$GC,2197,1.03,107.5,45.3,8.2,193,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1898,3044
$GC,2385,1.03,107.5,29.8,8.2,208,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1898,3044
$GC,2575,1.03,107.5,14.6,7.7,228,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1898,3044
$GC,2647,1.03,107.5,9.2,7.0,239,2653,0.00,2.55,0.00,0.000,4,0.000,0.047,2832,3304,3044
$GC,2661,1.05,121.1,8.5,6.5,241,2679,0.00,2.55,10.07,0.716,6,0.000,0.038,2832,1884,2989
$STATE,2723,end climb,SURFACE_DEPTH_REACHED
$STATE,2723,begin surface coast
$FINISH,0.3,1.012027
$STATE,2852,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2875,156.43,0.652,0,0,1649,450.13
$SM_GC,0.87,0.00,0.00,156.43,0.000,0.000,0.652,364,2127,1649,-10.33,0.76,450.13
$IRIDIUM_FIX,4729.30,-12245.46,061007,090918
$TT8_MAMPS,0.026845
$HUMID,2144
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,33.429
$10V_AH,10.2,11.632
$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,24.725,20.850,174.275,156.425,0.000,39.493,35.932,95.655,1.000,0.000,0.000,14.234,505.961,1642.305,439.646,435.338,317.078,33.374,700.093,0.000,429.486,0.000,7.064
$DEVICE_MAMPS,151.099,61.360,748.592,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6465,270
$CFSIZE,260034560,246956032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,072145,4746.231,-12250.414,8,2.0,8,18.3