version: 66.02
glider: 23
mission: 2
dive: 431
start: 10 7 107 9 26 48
data:
$ID,23
$MISSION,2
$DIVE,431
$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,-28195.084
$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,19
$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,3
$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
$GPS1,092002,4746.196,-12248.921,37,2.0,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-56.1
$GPS2,092533,4746.225,-12248.949,15,1.1,15,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.169
$KALMAN_X,23314.7,46.8,-10.6,-18362.6,90.6
$KALMAN_Y,17762.8,426.5,107.0,-6363.0,50.4
$MHEAD_RNG_PITCHd_Wd,132.6,497,-14.7,-7.037
$D_GRID,158
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.03,-107.5,0.0,0.0,0,126,0.00,0.00,-95.80,0.000,2,0.000,0.000,364,2101,3560
$GC,130,-1.03,-107.5,2.1,-3.7,16,161,11.25,2.50,-11.62,0.000,4,0.147,0.063,2380,3505,3924
$GC,221,-1.03,-107.5,9.9,-9.4,30,227,0.00,2.40,0.00,0.000,6,0.000,0.034,2380,2090,3923
$GC,293,-1.03,-107.5,15.9,-7.8,41,299,0.00,2.92,0.00,0.000,4,0.000,0.051,2381,692,3924
$GC,345,-1.03,-107.5,20.6,-9.2,49,350,0.00,2.88,0.00,0.000,6,0.000,0.031,2380,2114,3924
$GC,542,-1.03,-107.5,33.8,-5.7,64,546,0.00,2.42,0.00,0.000,4,0.000,0.051,2380,3518,3923
$GC,707,-1.03,-107.5,44.0,-6.3,76,711,0.00,2.40,0.00,0.000,6,0.000,0.035,2380,2093,3924
$GC,903,-1.03,-107.5,54.9,-6.1,91,907,0.00,2.92,0.00,0.000,4,0.000,0.052,2380,694,3924
$GC,942,-1.03,-107.5,57.5,-6.6,93,948,0.00,2.85,0.00,0.000,6,0.000,0.031,2381,2105,3924
$GC,1138,-1.03,-107.5,69.0,-6.0,109,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2105,3924
$GC,1328,-1.03,-107.5,80.4,-5.7,124,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2105,3924
$GC,1517,-1.03,-107.5,91.3,-5.4,139,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2105,3924
$STATE,1589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1596,-0.31,0.0,95.7,5.8,145,1683,0.77,0.00,83.32,0.749,6,0.084,0.000,2538,1885,3483
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1710,1.03,107.5,97.2,0.0,152,1795,1.38,0.00,80.82,0.736,6,0.069,0.000,2830,1885,3045
$GC,1984,1.03,107.5,75.7,8.9,174,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1885,3044
$GC,2173,1.03,107.5,58.8,8.9,189,2177,0.00,2.88,0.00,0.000,4,0.000,0.058,2830,477,3044
$GC,2192,1.03,107.5,56.9,9.3,190,2197,0.00,2.75,0.00,0.000,6,0.000,0.029,2830,1896,3043
$GC,2388,1.03,107.5,40.1,8.4,205,2393,0.00,2.88,0.00,0.000,4,0.000,0.057,2830,488,3044
$GC,2413,1.03,107.5,37.8,8.5,206,2420,0.00,2.72,0.00,0.000,6,0.000,0.029,2830,1892,3044
$GC,2610,1.03,107.5,22.7,8.2,222,2614,0.00,2.55,0.00,0.000,4,0.000,0.045,2830,3307,3044
$GC,2622,1.03,107.5,21.6,8.4,222,2628,0.00,2.53,0.00,0.000,6,0.000,0.038,2831,1902,3042
$GC,2828,1.05,123.3,9.9,6.4,251,2847,0.00,2.58,11.20,0.716,4,0.000,0.045,2831,3299,2982
$STATE,2897,end climb,SURFACE_DEPTH_REACHED
$STATE,2897,begin surface coast
$FINISH,2.6,1.022248
$STATE,2931,end surface coast,CONTROL_FINISHED_OK
$STATE,2931,begin surface
$SM_CCo,2969,155.40,0.644,0,0,1649,450.13
$SM_GC,0.81,0.00,0.00,155.40,0.000,0.000,0.644,364,2084,1649,-10.33,-0.45,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,121210
$TT8_MAMPS,0.04602
$HUMID,2074
$TCM_TEMP,19.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.4,7.9
$24V_AH,24.0,35.575
$10V_AH,10.0,12.466
$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,24.675,42.775,175.350,155.400,0.000,37.681,37.309,124.004,3.750,0.000,0.000,17.223,479.418,1710.575,448.384,458.855,377.434,33.339,732.429,0.000,448.965,0.000,5.509
$DEVICE_MAMPS,147.264,62.894,749.359,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.341,0.000,0.000,0.000,0.000,0.000,3083.680,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.975,0.000
$DATA_FILE_SIZE,6450,267
$CFSIZE,260034560,246149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,102007,4745.970,-12248.729,12,1.1,28,18.3