version: 66.02
glider: 23
mission: 2
dive: 417
start: 10 6 107 18 7 32
data:
$ID,23
$MISSION,2
$DIVE,417
$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,-28247.152
$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,23
$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
$GPS1,180144,4746.265,-12250.122,9,1.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.8
$GPS2,180615,4746.313,-12250.091,13,1.7,13,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.125
$KALMAN_X,22275.2,17.5,-9.3,-18721.0,86.6
$KALMAN_Y,13870.0,44.1,-19.8,-1799.4,136.7
$MHEAD_RNG_PITCHd_Wd,211.6,225,-14.7,-7.037
$D_GRID,154
$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,-1.03,-107.5,0.0,0.0,0,118,0.00,0.00,-90.53,0.000,2,0.000,0.000,365,2102,3520
$GC,123,-1.03,-107.5,2.1,-3.8,15,155,11.27,2.97,-12.57,0.000,4,0.150,0.056,2378,685,3923
$GC,207,-1.03,-107.5,8.9,-8.2,28,214,0.00,2.88,0.00,0.000,6,0.000,0.031,2378,2107,3924
$GC,280,-1.03,-107.5,14.1,-6.0,39,286,0.00,3.00,0.00,0.000,4,0.000,0.049,2378,676,3924
$GC,314,-1.03,-107.5,16.3,-6.8,44,320,0.00,2.90,0.00,0.000,6,0.000,0.031,2378,2113,3924
$GC,392,-1.03,-107.5,21.7,-6.5,54,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2113,3924
$GC,584,-1.03,-107.5,33.7,-6.3,69,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2112,3924
$GC,772,-1.03,-107.5,46.3,-6.4,84,777,0.00,3.00,0.00,0.000,4,0.000,0.049,2378,678,3924
$GC,819,-1.03,-107.5,49.7,-7.1,87,826,0.00,2.88,0.00,0.000,6,0.000,0.031,2378,2108,3924
$GC,1023,-1.03,-107.5,62.6,-6.3,103,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2107,3924
$GC,1214,-1.03,-107.5,74.7,-6.4,118,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2107,3925
$GC,1401,-1.03,-107.5,87.0,-6.4,133,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2107,3925
$STATE,1537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1537,begin apogee
$GC,1544,-0.31,0.0,95.6,6.1,144,1635,0.80,0.00,83.38,0.744,6,0.085,0.000,2539,1875,3483
$STATE,1636,end apogee,CONTROL_FINISHED_OK
$STATE,1636,begin climb
$GC,1639,1.03,107.5,97.2,0.0,152,1728,1.38,2.90,81.25,0.730,4,0.067,0.055,2833,489,3046
$GC,1750,1.03,107.5,90.6,8.8,161,1755,0.00,2.75,0.00,0.000,6,0.000,0.028,2833,1897,3044
$GC,1946,1.03,107.5,73.2,8.8,176,1950,0.00,2.53,0.00,0.000,4,0.000,0.046,2833,3295,3044
$GC,1971,1.03,107.5,70.8,9.2,177,1978,0.00,2.55,0.00,0.000,6,0.000,0.040,2833,1905,3044
$GC,2167,1.03,107.5,53.9,8.4,193,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1905,3043
$GC,2359,1.03,107.5,38.2,8.1,208,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1905,3043
$GC,2548,1.03,107.5,22.4,8.5,223,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1905,3043
$GC,2743,1.03,107.5,7.3,7.6,250,2749,0.00,2.90,0.00,0.000,4,0.000,0.059,2832,470,3043
$STATE,2773,end climb,SURFACE_DEPTH_REACHED
$STATE,2773,begin surface coast
$FINISH,0.2,1.011418
$STATE,2846,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2872,161.10,0.640,0,0,1648,450.13
$SM_GC,0.70,0.00,0.00,161.10,0.000,0.000,0.640,363,2107,1648,-10.34,0.20,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,212138
$TT8_MAMPS,0.026845
$HUMID,2128
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,24.0,34.340
$10V_AH,10.2,11.913
$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,24.525,34.950,164.625,161.100,0.000,41.223,36.310,96.462,1.500,0.000,0.000,15.357,507.639,1631.490,439.713,436.419,327.353,33.351,710.521,0.000,428.053,0.000,9.208
$DEVICE_MAMPS,149.565,59.059,743.990,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6428,266
$CFSIZE,260034560,246665216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,185937,4746.232,-12250.372,40,1.0,46,18.3