version: 66.02
glider: 23
mission: 2
dive: 419
start: 10 6 107 20 4 20
data:
$ID,23
$MISSION,2
$DIVE,419
$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,-28230.426
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,195833,4746.251,-12249.931,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-54.2
$GPS2,200303,4746.307,-12249.900,15,1.5,15,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,-0.124
$KALMAN_X,22360.4,53.3,28.1,-18640.4,51.5
$KALMAN_Y,14257.9,140.6,48.1,-2365.3,167.5
$MHEAD_RNG_PITCHd_Wd,109.3,1600,-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,-90.50,0.000,2,0.000,0.000,366,2075,3506
$GC,123,-0.97,-107.5,2.1,-3.1,15,155,11.35,2.55,-14.20,0.000,4,0.149,0.060,2393,3505,3924
$GC,340,-0.97,-107.5,19.1,-7.1,48,346,0.00,2.40,0.00,0.000,6,0.000,0.034,2393,2091,3924
$GC,411,-0.97,-107.5,23.0,-5.5,55,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2091,3924
$GC,603,-0.97,-107.5,34.2,-6.2,70,608,0.00,2.92,0.00,0.000,4,0.000,0.052,2394,691,3924
$GC,636,-0.97,-107.5,36.5,-6.3,72,641,0.00,2.85,0.00,0.000,6,0.000,0.031,2394,2102,3924
$GC,832,-0.97,-107.5,48.3,-5.9,87,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2102,3924
$GC,1024,-0.97,-107.5,59.7,-6.2,102,1029,0.00,2.97,0.00,0.000,4,0.000,0.051,2394,688,3924
$GC,1057,-0.97,-107.5,61.8,-6.2,104,1062,0.00,2.88,0.00,0.000,6,0.000,0.031,2393,2110,3924
$GC,1255,-0.97,-107.5,73.0,-5.7,119,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2109,3924
$GC,1443,-0.97,-107.5,83.3,-5.3,134,1447,0.00,2.97,0.00,0.000,4,0.000,0.050,2393,689,3924
$GC,1482,-0.97,-107.5,85.6,-5.9,136,1488,0.00,2.85,0.00,0.000,6,0.000,0.031,2394,2107,3924
$STATE,1663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1671,-0.31,0.0,95.4,5.3,151,1761,0.70,0.00,82.70,0.752,6,0.086,0.000,2538,1874,3483
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1765,0.97,107.5,96.7,0.0,159,1850,1.35,0.00,81.40,0.729,6,0.065,0.000,2822,1874,3045
$GC,2035,0.97,107.5,77.1,8.3,181,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1874,3045
$GC,2226,0.97,107.5,61.7,8.1,196,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1874,3044
$GC,2415,0.97,107.5,46.4,7.8,211,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1874,3043
$GC,2604,0.97,107.5,31.6,8.2,226,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1874,3044
$GC,2792,0.97,107.5,17.0,7.8,244,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1874,3044
$GC,2864,1.00,139.2,12.5,5.9,255,2895,0.00,2.67,23.12,0.698,4,0.000,0.044,2822,3312,2916
$STATE,3004,end climb,SURFACE_DEPTH_REACHED
$STATE,3004,begin surface coast
$FINISH,0.2,1.011328
$STATE,3098,end surface coast,CONTROL_FINISHED_OK
$STATE,3098,begin surface
$SM_CCo,3123,145.98,0.641,0,0,1649,450.13
$SM_GC,0.71,0.00,0.00,145.98,0.000,0.000,0.641,366,2089,1649,-10.32,-0.34,450.13
$IRIDIUM_FIX,4729.30,-12241.04,061007,232324
$TT8_MAMPS,0.027612
$HUMID,2133
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,999.0
$24V_AH,23.4,34.490
$10V_AH,10.2,11.959
$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,24.475,27.700,187.225,145.975,0.000,40.771,35.243,95.525,1.250,0.000,0.000,16.632,543.243,1795.895,446.164,464.700,327.578,33.372,721.617,0.000,455.303,0.000,7.064
$DEVICE_MAMPS,148.798,59.826,751.660,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6446,291
$CFSIZE,260034560,246616064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,205945,4746.216,-12249.464,11,1.5,11,18.3