version: 66.02
glider: 23
mission: 2
dive: 420
start: 10 6 107 21 5 49
data:
$ID,23
$MISSION,2
$DIVE,420
$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,-28238.016
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,205945,4746.216,-12249.464,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-53.5
$GPS2,210432,4746.277,-12249.437,12,1.3,29,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.143
$KALMAN_X,22458.0,72.7,42.8,-18195.3,47.9
$KALMAN_Y,14442.6,183.3,88.8,-2687.7,166.4
$MHEAD_RNG_PITCHd_Wd,116.3,1046,-13.6,-7.037
$D_GRID,162
$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,-107.5,0.0,0.0,0,118,0.00,0.00,-90.60,0.000,2,0.000,0.000,366,2086,3489
$GC,123,-0.97,-107.5,2.1,-3.2,15,155,11.38,2.58,-15.02,0.000,4,0.150,0.066,2395,3518,3924
$GC,208,-0.97,-107.5,7.5,-7.9,28,214,0.00,2.42,0.00,0.000,6,0.000,0.033,2395,2086,3924
$GC,280,-0.97,-107.5,13.3,-7.6,39,286,0.00,2.50,0.00,0.000,4,0.000,0.049,2395,3511,3924
$GC,425,-0.97,-107.5,23.2,-6.6,58,429,0.00,2.40,0.00,0.000,6,0.000,0.035,2395,2097,3924
$GC,621,-0.97,-107.5,34.3,-5.6,73,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2098,3924
$GC,812,-0.97,-107.5,44.9,-5.4,88,817,0.00,2.95,0.00,0.000,4,0.000,0.053,2395,687,3924
$GC,864,-0.97,-107.5,48.1,-6.1,91,870,0.00,2.88,0.00,0.000,6,0.000,0.031,2395,2111,3925
$GC,1060,-0.97,-107.5,59.1,-5.8,107,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2110,3924
$GC,1252,-0.97,-107.5,69.6,-5.5,122,1256,0.00,2.97,0.00,0.000,4,0.000,0.051,2395,693,3924
$GC,1298,-0.97,-107.5,72.3,-6.0,125,1303,0.00,2.85,0.00,0.000,6,0.000,0.031,2395,2106,3924
$GC,1494,-0.97,-107.5,83.1,-5.5,140,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2105,3924
$GC,1685,-0.97,-107.5,93.9,-5.8,155,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2105,3924
$STATE,1705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1705,begin apogee
$GC,1713,-0.31,0.0,95.3,5.7,157,1799,0.73,0.00,82.88,0.752,6,0.084,0.000,2542,1886,3484
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1803,0.97,107.5,97.1,0.0,164,1888,1.30,0.00,81.20,0.729,6,0.065,0.000,2818,1886,3045
$GC,2071,0.97,107.5,78.5,8.2,186,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1886,3045
$GC,2263,0.97,107.5,63.0,8.3,201,2267,0.00,2.88,0.00,0.000,4,0.000,0.058,2818,480,3045
$GC,2282,0.97,107.5,61.2,8.4,202,2287,0.00,2.75,0.00,0.000,6,0.000,0.029,2818,1901,3044
$GC,2478,0.97,107.5,45.7,8.0,217,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1902,3045
$GC,2670,0.97,107.5,31.1,7.5,232,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1902,3044
$GC,2859,0.97,110.9,17.0,6.9,250,2866,0.00,2.60,2.60,0.782,4,0.000,0.046,2818,3297,3029
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3073,begin surface coast
$FINISH,2.0,1.022322
$STATE,3111,end surface coast,CONTROL_FINISHED_OK
$STATE,3111,begin surface
$SM_CCo,3136,162.95,0.642,0,0,1649,450.13
$SM_GC,0.77,0.00,0.00,162.95,0.000,0.000,0.642,366,2091,1649,-10.32,-0.25,450.13
$IRIDIUM_FIX,4729.30,-12252.58,071007,000021
$TT8_MAMPS,0.026845
$HUMID,2141
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,34.563
$10V_AH,10.2,11.983
$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,24.725,32.350,166.675,162.950,0.000,39.870,42.349,92.558,1.000,0.000,0.000,31.452,547.081,1819.960,444.664,482.906,329.320,33.348,718.809,0.000,457.914,0.000,9.141
$DEVICE_MAMPS,149.565,65.962,782.340,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6455,288
$CFSIZE,260034560,246591488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,220207,4746.210,-12248.996,34,1.1,34,18.3