version: 66.02
glider: 23
mission: 2
dive: 418
start: 10 6 107 19 5 21
data:
$ID,23
$MISSION,2
$DIVE,418
$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,-28236.965
$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,32
$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
$GPS1,185937,4746.232,-12250.372,40,1.0,46,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-53.7
$GPS2,190403,4746.289,-12250.346,10,1.2,10,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.178,-0.099
$KALMAN_X,22318.9,36.7,11.2,-19120.8,67.7
$KALMAN_Y,14051.0,97.8,16.6,-2116.6,137.8
$MHEAD_RNG_PITCHd_Wd,100.8,2124,-13.6,-7.037
$D_GRID,149
$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,-0.97,-107.5,0.0,0.0,0,123,0.00,0.00,-96.10,0.000,2,0.000,0.000,363,2105,3623
$GC,128,-0.97,-107.5,2.3,-3.6,16,154,11.38,2.53,-8.55,0.000,4,0.150,0.067,2393,3498,3924
$GC,347,-0.97,-107.5,19.1,-6.3,49,353,0.00,2.40,0.00,0.000,6,0.000,0.034,2393,2081,3924
$GC,417,-0.97,-107.5,23.3,-6.0,56,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2082,3924
$GC,610,-0.97,-107.5,34.6,-6.0,71,614,0.00,2.90,0.00,0.000,4,0.000,0.051,2393,694,3924
$GC,650,-0.97,-107.5,37.3,-6.7,73,656,0.00,2.83,0.00,0.000,6,0.000,0.031,2393,2096,3924
$GC,846,-0.97,-107.5,49.0,-6.0,89,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2095,3924
$GC,1038,-0.97,-107.5,60.4,-6.1,104,1042,0.00,2.95,0.00,0.000,4,0.000,0.049,2393,688,3924
$GC,1071,-0.97,-107.5,62.7,-6.7,106,1075,0.00,2.85,0.00,0.000,6,0.000,0.031,2393,2101,3924
$GC,1267,-0.97,-107.5,74.1,-5.8,121,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2099,3925
$GC,1456,-0.97,-107.5,85.1,-5.9,136,1460,0.00,2.95,0.00,0.000,4,0.000,0.049,2393,692,3925
$GC,1476,-0.97,-107.5,86.2,-5.7,137,1481,0.00,2.85,0.00,0.000,6,0.000,0.031,2393,2105,3925
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1633,begin apogee
$GC,1640,-0.31,0.0,95.1,5.6,149,1731,0.70,0.00,83.60,0.744,6,0.084,0.000,2538,1886,3484
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1735,0.97,107.5,96.6,0.0,157,1821,1.35,0.00,81.97,0.726,6,0.065,0.000,2822,1885,3046
$GC,2005,0.97,107.5,77.0,8.5,179,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1885,3045
$GC,2195,0.97,107.5,61.4,8.1,194,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1885,3045
$GC,2385,0.97,107.5,46.2,7.9,209,2390,0.00,2.88,0.00,0.000,4,0.000,0.058,2822,477,3045
$GC,2410,0.97,107.5,43.7,8.9,210,2417,0.00,2.75,0.00,0.000,6,0.000,0.030,2822,1897,3044
$GC,2607,0.97,107.5,28.8,7.5,226,2611,0.00,2.53,0.00,0.000,4,0.000,0.046,2822,3296,3044
$GC,2645,0.97,107.5,25.6,8.0,228,2652,0.00,2.55,0.00,0.000,6,0.000,0.038,2822,1896,3044
$GC,2847,1.01,147.3,10.6,5.6,253,2884,0.00,2.60,29.10,0.690,4,0.000,0.045,2822,3297,2884
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,4.3,1.022306
$STATE,2956,end surface coast,CONTROL_FINISHED_OK
$STATE,2956,begin surface
$SM_CCo,2981,148.70,0.641,1,0,1647,450.13
$SM_GC,0.64,0.00,0.00,148.70,0.000,0.000,0.641,366,2075,1647,-10.32,-0.71,450.13
$IRIDIUM_FIX,4726.11,-12252.58,061007,222233
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.7,999.0
$24V_AH,23.8,34.416
$10V_AH,10.2,11.936
$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,24.800,38.150,194.675,148.700,0.000,39.114,37.758,94.710,1.500,0.000,0.000,12.205,511.994,1698.278,466.452,439.663,323.979,33.346,739.540,0.000,434.632,0.000,7.062
$DEVICE_MAMPS,150.332,66.729,743.990,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6443,270
$CFSIZE,260034560,246640640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061007,195833,4746.251,-12249.931,12,1.4,12,18.3