version: 66.02
glider: 23
mission: 2
dive: 407
start: 10 6 107 7 27 43
data:
$ID,23
$MISSION,2
$DIVE,407
$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,-28237.918
$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,20
$R_STBD_OVSHOOT,47
$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
$GPS1,072145,4746.231,-12250.414,8,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.9
$GPS2,072626,4746.220,-12250.412,11,1.5,29,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.193,0.012
$KALMAN_X,21981.0,5.8,-18.1,-18804.6,26.2
$KALMAN_Y,13437.8,-60.1,-56.9,-1397.4,57.3
$MHEAD_RNG_PITCHd_Wd,68.1,212,-14.7,-7.037
$D_GRID,148
$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,-107.5,0.0,0.0,0,112,0.00,0.00,-84.85,0.000,2,0.000,0.000,364,2128,3393
$GC,115,-1.03,-107.5,2.1,-3.3,14,153,11.32,3.03,-19.15,0.000,4,0.150,0.059,2380,683,3922
$GC,279,-1.03,-107.5,14.3,-7.7,39,285,0.00,2.83,0.00,0.000,6,0.000,0.030,2381,2082,3924
$GC,352,-1.03,-107.5,19.1,-6.5,50,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2082,3923
$GC,422,-1.03,-107.5,23.6,-6.4,57,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2082,3923
$GC,613,-1.03,-107.5,36.3,-6.7,72,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2080,3924
$GC,803,-1.03,-107.5,48.8,-6.6,87,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2082,3924
$GC,992,-1.03,-107.5,60.9,-6.2,102,997,0.00,2.92,0.00,0.000,4,0.000,0.050,2380,686,3924
$GC,1013,-1.03,-107.5,62.3,-6.4,103,1018,0.00,2.85,0.00,0.000,6,0.000,0.030,2380,2102,3924
$GC,1209,-1.03,-107.5,75.2,-6.3,118,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2101,3924
$GC,1398,-1.03,-107.5,87.6,-6.2,133,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2101,3924
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1529,-0.31,0.0,95.6,6.5,143,1615,0.77,0.00,82.62,0.749,6,0.085,0.000,2537,1869,3483
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1618,1.03,107.5,97.3,0.0,150,1710,1.40,2.90,81.30,0.731,4,0.068,0.056,2832,482,3045
$GC,1731,1.03,107.5,90.7,8.5,159,1737,0.00,2.75,0.00,0.000,6,0.000,0.028,2832,1897,3045
$GC,1927,1.03,107.5,73.6,8.6,175,1931,0.00,2.55,0.00,0.000,4,0.000,0.046,2832,3303,3045
$GC,1973,1.03,107.5,69.4,8.8,178,1977,0.00,2.53,0.00,0.000,6,0.000,0.040,2832,1902,3044
$GC,2168,1.03,107.5,52.5,8.5,193,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1903,3044
$GC,2360,1.03,107.5,36.4,8.1,208,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1903,3044
$GC,2549,1.03,107.5,20.9,8.4,223,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1903,3044
$GC,2745,1.07,142.4,6.2,5.6,252,2776,0.00,3.03,25.55,0.693,4,0.000,0.057,2832,466,2902
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,3.2,1.022018
$STATE,2804,end surface coast,CONTROL_FINISHED_OK
$STATE,2804,begin surface
$SM_CCo,2829,150.80,0.644,1,0,1649,450.13
$SM_GC,0.81,0.00,0.00,150.80,0.000,0.000,0.644,366,2100,1649,-10.32,0.03,450.13
$IRIDIUM_FIX,4729.30,-12254.31,061007,101019
$TT8_MAMPS,0.026845
$HUMID,2111
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.0,33.504
$10V_AH,10.2,11.654
$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,24.950,29.125,189.475,150.800,0.000,39.781,35.497,95.797,1.250,0.000,0.000,30.955,490.094,1609.876,453.254,433.749,318.188,33.365,711.693,0.000,411.450,0.000,7.063
$DEVICE_MAMPS,149.565,59.059,749.359,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6466,261
$CFSIZE,260034560,246931456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061007,081838,4746.250,-12249.973,24,1.5,24,18.3