version: 66.02
glider: 23
mission: 2
dive: 412
start: 10 6 107 13 2 18
data:
$ID,23
$MISSION,2
$DIVE,412
$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,-28215.926
$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,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
$GPS1,124523,4746.036,-12249.053,13,2.4,32,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.4
$GPS2,130103,4746.053,-12249.022,13,1.5,13,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,-0.019
$KALMAN_X,22071.5,4.5,27.1,-17207.2,9.4
$KALMAN_Y,13429.4,-47.4,69.8,-1837.2,-15.6
$MHEAD_RNG_PITCHd_Wd,77.3,422,-14.7,-7.037
$D_GRID,161
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-107.5,0.0,0.0,0,114,0.00,0.00,-84.97,0.000,2,0.000,0.000,368,2118,3388
$GC,118,-1.03,-107.5,2.1,-3.0,14,155,11.30,2.40,-18.88,0.000,4,0.150,0.062,2381,3491,3923
$GC,407,-1.03,-107.5,23.5,-6.9,55,411,0.00,2.38,0.00,0.000,6,0.000,0.034,2381,2090,3924
$GC,603,-1.03,-107.5,35.9,-6.3,70,607,0.00,2.47,0.00,0.000,4,0.000,0.050,2380,3503,3924
$GC,801,-1.03,-107.5,50.3,-7.9,84,807,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2092,3924
$GC,997,-1.03,-107.5,63.0,-6.5,100,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2092,3923
$GC,1189,-1.03,-107.5,75.4,-6.5,115,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2092,3924
$GC,1377,-1.03,-107.5,87.0,-6.1,130,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2092,3924
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1518,-0.31,0.0,95.5,6.2,141,1605,0.80,0.00,82.72,0.746,6,0.091,0.000,2541,1885,3484
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1608,1.03,107.5,97.0,0.0,148,1694,1.38,0.00,81.28,0.729,6,0.067,0.000,2833,1885,3045
$GC,1877,1.03,107.5,77.0,8.7,170,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1885,3044
$GC,2068,1.03,107.5,60.3,8.9,185,2072,0.00,2.55,0.00,0.000,4,0.000,0.044,2833,3279,3044
$GC,2101,1.03,107.5,57.2,9.1,187,2106,0.00,2.53,0.00,0.000,6,0.000,0.040,2833,1895,3044
$GC,2297,1.03,107.5,40.7,8.1,202,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1895,3044
$GC,2488,1.03,107.5,25.0,8.3,217,2493,0.00,2.53,0.00,0.000,4,0.000,0.045,2833,3292,3044
$GC,2534,1.03,107.5,20.9,9.0,220,2539,0.00,2.53,0.00,0.000,6,0.000,0.039,2833,1888,3044
$GC,2739,1.07,143.1,7.2,5.6,249,2770,0.00,2.65,25.90,0.696,4,0.000,0.044,2833,3284,2900
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,3.1,1.022067
$STATE,2808,end surface coast,CONTROL_FINISHED_OK
$STATE,2808,begin surface
$SM_CCo,2832,151.35,0.640,0,0,1648,450.13
$SM_GC,0.87,0.00,0.00,151.35,0.000,0.000,0.640,367,2076,1648,-10.32,-0.68,450.13
$IRIDIUM_FIX,4729.30,-12248.15,061007,161602
$TT8_MAMPS,0.026845
$HUMID,2102
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.0,999.0
$24V_AH,24.0,33.966
$10V_AH,10.2,11.793
$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,24.950,25.000,189.900,151.350,0.000,155.452,240.419,254.320,1.500,0.000,0.000,15.332,492.708,1781.926,441.353,443.191,801.068,33.345,703.476,0.000,435.342,0.000,7.064
$DEVICE_MAMPS,149.565,62.127,746.291,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6443,260
$CFSIZE,260034560,246796288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,135317,4745.961,-12248.654,10,4.9,29,18.3