version: 66.02
glider: 23
mission: 2
dive: 436
start: 10 7 107 15 41 25
data:
$ID,23
$MISSION,2
$DIVE,436
$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,712.3512
$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,-28168.516
$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,42
$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
$GPS1,152245,4746.398,-12250.089,10,2.0,10,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.0
$GPS2,154010,4746.583,-12250.109,14,2.4,33,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,-0.196
$KALMAN_X,23356.6,-17.8,12.7,-19812.5,38.2
$KALMAN_Y,19322.8,329.2,130.8,-7195.5,160.6
$MHEAD_RNG_PITCHd_Wd,177.1,629,-13.6,-7.037
$D_GRID,92
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.97,-107.5,0.0,0.0,0,128,0.00,0.00,-95.97,0.000,2,0.000,0.000,364,2129,3554
$GC,132,-0.97,-107.5,2.1,-3.5,16,162,11.32,0.00,-12.30,0.000,6,0.148,0.000,2395,2131,3923
$GC,229,-0.97,-107.5,8.5,-7.3,31,235,0.00,3.05,0.00,0.000,4,0.000,0.054,2396,678,3924
$GC,281,-0.97,-107.5,12.5,-7.4,39,287,0.00,2.85,0.00,0.000,6,0.000,0.031,2396,2086,3924
$GC,353,-0.97,-107.5,18.5,-8.8,50,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2087,3924
$GC,423,-0.97,-107.5,24.1,-8.1,57,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2087,3924
$GC,614,-0.97,-107.5,35.8,-5.3,72,618,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,3504,3924
$GC,759,-0.97,-107.5,44.9,-6.3,82,765,0.00,2.38,0.00,0.000,6,0.000,0.035,2395,2090,3924
$GC,956,-0.97,-107.5,47.8,0.0,98,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2091,3925
$STATE,977,end dive,NO_VERTICAL_VELOCITY
$STATE,978,begin apogee
$GC,985,-0.31,0.0,47.8,0.0,100,1070,0.70,0.00,81.85,0.707,6,0.074,0.000,2542,1879,3484
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1076,0.97,107.5,47.7,0.0,107,1161,1.27,0.00,80.82,0.690,6,0.064,0.000,2815,1879,3045
$GC,1345,0.97,107.5,30.0,7.6,129,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1879,3046
$GC,1536,1.03,164.7,18.9,5.0,145,1585,0.00,2.62,42.15,0.680,4,0.000,0.043,2815,3307,2812
$GC,1625,1.04,173.8,13.3,6.7,159,1637,0.00,2.53,6.50,0.711,6,0.000,0.038,2816,1902,2775
$GC,1704,1.04,173.8,7.8,7.1,171,1710,0.00,2.95,0.00,0.000,4,0.000,0.061,2815,472,2775
$STATE,1747,end climb,SURFACE_DEPTH_REACHED
$STATE,1747,begin surface coast
$FINISH,0.3,1.022290
$STATE,1808,end surface coast,CONTROL_FINISHED_OK
$STATE,1808,begin surface
$SM_CCo,1844,256.15,0.621,0,0,580,712.35
$SM_GC,0.58,0.00,0.00,256.15,0.000,0.000,0.621,367,2104,580,-10.32,0.11,712.35
$IRIDIUM_FIX,4729.30,-12247.19,071007,191907
$TT8_MAMPS,0.045253
$HUMID,2051
$TCM_TEMP,19.80
$XPDR_PINGS,3
$24V_AH,24.0,36.120
$10V_AH,10.0,12.761
$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,24.250,22.500,211.325,256.150,0.000,200.800,375.841,0.000,0.750,0.000,0.000,35.631,333.883,1136.193,573.239,350.675,771.370,33.348,782.633,0.000,305.858,0.000,0.930
$DEVICE_MAMPS,148.031,61.360,711.009,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.362,0.000,0.000,0.000,0.000,0.000,2703.830,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.975,0.000
$DATA_FILE_SIZE,3326,187
$CFSIZE,260034560,245829632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,161737,4746.586,-12250.128,9,1.4,25,18.3