version: 66.02
glider: 23
mission: 2
dive: 415
start: 10 6 107 16 4 42
data:
$ID,23
$MISSION,2
$DIVE,415
$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,-28266.928
$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,17
$R_STBD_OVSHOOT,50
$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
$GPS1,155759,4746.228,-12249.511,8,2.8,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.6
$GPS2,160325,4746.282,-12249.478,32,1.6,50,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.019
$KALMAN_X,22042.7,6.7,6.5,-17728.9,-28.4
$KALMAN_Y,13570.9,-14.8,-17.6,-1504.1,26.0
$MHEAD_RNG_PITCHd_Wd,246.3,964,-13.6,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.97,-107.5,0.0,0.0,0,118,0.00,0.00,-90.30,0.000,2,0.000,0.000,366,2128,3488
$GC,123,-0.97,-107.5,2.2,-3.5,15,155,11.35,3.03,-12.90,0.000,4,0.149,0.058,2396,686,3923
$GC,247,-0.97,-107.5,12.4,-7.9,34,253,0.00,2.83,0.00,0.000,6,0.000,0.030,2396,2078,3924
$GC,320,-0.97,-107.5,16.7,-6.1,45,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2078,3924
$GC,393,-0.97,-107.5,21.0,-5.6,55,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2078,3924
$GC,586,-0.97,-107.5,32.3,-5.9,70,590,0.00,2.92,0.00,0.000,4,0.000,0.048,2396,685,3924
$GC,626,-0.97,-107.5,35.0,-6.5,72,632,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2100,3924
$GC,821,-0.97,-107.5,46.7,-6.0,88,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3924
$GC,1015,-0.97,-107.5,57.7,-5.8,103,1019,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,3505,3924
$GC,1048,-0.97,-107.5,59.9,-6.2,105,1052,0.00,2.40,0.00,0.000,6,0.000,0.034,2396,2078,3924
$GC,1250,-0.97,-107.5,71.7,-5.9,121,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2079,3924
$GC,1442,-0.97,-107.5,82.6,-5.7,136,1446,0.00,2.90,0.00,0.000,4,0.000,0.051,2396,693,3924
$GC,1467,-0.97,-107.5,84.3,-6.1,137,1474,0.00,2.85,0.00,0.000,6,0.000,0.031,2395,2107,3924
$STATE,1660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1660,begin apogee
$GC,1668,-0.31,0.0,95.6,5.8,153,1759,0.70,0.00,83.03,0.746,6,0.086,0.000,2537,1887,3483
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1762,0.97,107.5,97.1,0.0,161,1847,1.35,0.00,81.18,0.732,6,0.066,0.000,2821,1887,3045
$GC,2032,0.97,107.5,77.8,8.4,183,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1887,3044
$GC,2223,0.97,107.5,62.3,8.2,198,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1887,3044
$GC,2413,0.97,107.5,47.2,8.0,213,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1887,3044
$GC,2602,0.97,107.5,32.8,7.4,228,2606,0.00,2.58,0.00,0.000,4,0.000,0.044,2821,3303,3043
$GC,2635,0.97,107.5,29.9,8.2,230,2639,0.00,2.53,0.00,0.000,6,0.000,0.038,2821,1903,3043
$GC,2834,0.97,107.5,14.8,7.2,250,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1904,3043
$GC,2906,0.97,107.5,9.8,7.4,261,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1904,3043
$GC,2978,1.04,176.6,6.1,4.6,272,3003,0.00,0.00,23.02,0.695,2,0.000,0.000,2821,1904,2915
$STATE,3004,end climb,SURFACE_DEPTH_REACHED
$STATE,3004,begin surface coast
$FINISH,0.2,1.021851
$STATE,3114,end surface coast,CONTROL_FINISHED_OK
$STATE,3114,begin surface
$SM_CCo,3137,147.68,0.641,0,0,1648,450.13
$SM_GC,0.81,0.00,0.00,147.68,0.000,0.000,0.641,364,2129,1648,-10.33,0.82,450.13
$IRIDIUM_FIX,4729.30,-12249.89,061007,181829
$TT8_MAMPS,0.026845
$HUMID,2138
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,34.195
$10V_AH,10.2,11.867
$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,24.550,28.225,187.225,147.675,0.000,39.790,36.047,114.926,1.250,0.000,0.000,52.105,551.833,1787.881,450.898,508.912,350.206,33.358,737.492,0.000,462.684,0.000,7.065
$DEVICE_MAMPS,148.798,57.525,745.524,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6439,293
$CFSIZE,260034560,246710272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,170046,4746.330,-12249.837,13,2.1,32,18.3