version: 66.02
glider: 23
mission: 2
dive: 378
start: 10 4 107 22 36 0
data:
$ID,23
$MISSION,2
$DIVE,378
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28267.557
$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,18
$R_STBD_OVSHOOT,53
$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
$GPS1,222938,4746.389,-12250.311,24,1.7,25,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-67.1
$GPS2,223445,4746.375,-12250.299,14,1.7,14,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.255
$KALMAN_X,22737.0,-55.0,-24.2,-19356.5,28.3
$KALMAN_Y,14555.3,6.7,-37.7,-2310.6,-77.2
$MHEAD_RNG_PITCHd_Wd,148.3,228,-8.6,-7.037
$D_GRID,147
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.65,-97.8,0.0,0.0,0,117,0.00,0.00,-90.55,0.000,2,0.000,0.000,366,2124,3458
$GC,122,-0.65,-97.8,2.0,-3.5,15,154,11.75,2.45,-14.20,0.000,4,0.149,0.062,2465,3486,3883
$GC,328,-0.65,-97.8,14.5,-6.2,46,334,0.00,2.40,0.00,0.000,6,0.000,0.035,2465,2079,3885
$GC,400,-0.65,-97.8,18.0,-4.1,57,407,0.00,2.90,0.00,0.000,4,0.000,0.051,2465,688,3885
$GC,472,-0.65,-97.8,21.0,-4.0,66,479,0.00,2.80,0.00,0.000,6,0.000,0.030,2466,2077,3885
$GC,668,-0.65,-97.8,27.9,-3.7,82,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2077,3885
$GC,860,-0.65,-97.8,34.6,-3.6,97,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2077,3885
$GC,1049,-0.65,-97.8,41.5,-3.5,112,1053,0.00,2.90,0.00,0.000,4,0.000,0.050,2466,693,3885
$GC,1101,-0.65,-97.8,43.7,-3.9,115,1107,0.00,2.85,0.00,0.000,6,0.000,0.031,2465,2109,3886
$GC,1297,-0.65,-97.8,50.6,-3.5,131,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2108,3886
$GC,1488,-0.65,-97.8,57.7,-3.6,146,1493,0.00,2.97,0.00,0.000,4,0.000,0.050,2466,685,3886
$GC,1521,-0.65,-97.8,59.0,-4.1,148,1526,0.00,2.85,0.00,0.000,6,0.000,0.030,2465,2106,3886
$GC,1717,-0.65,-97.8,66.0,-3.5,163,1722,0.00,2.95,0.00,0.000,4,0.000,0.050,2466,684,3886
$GC,1755,-0.65,-97.8,67.4,-4.0,165,1762,0.00,2.85,0.00,0.000,6,0.000,0.030,2466,2107,3886
$GC,1952,-0.65,-97.8,74.1,-3.4,181,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2106,3886
$GC,2144,-0.65,-97.8,80.4,-3.3,196,2148,0.00,2.97,0.00,0.000,4,0.000,0.051,2465,684,3885
$GC,2191,-0.65,-97.8,82.4,-4.4,199,2195,0.00,2.85,0.00,0.000,6,0.000,0.030,2465,2103,3886
$GC,2386,-0.65,-97.8,89.5,-4.3,214,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2103,3886
$STATE,2535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2535,begin apogee
$GC,2542,-0.31,0.0,95.2,3.7,226,2622,0.38,0.00,75.35,0.747,6,0.092,0.000,2539,1884,3484
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2626,0.65,97.8,96.9,0.0,233,2703,0.98,0.00,73.85,0.728,6,0.068,0.000,2746,1884,3085
$GC,2888,0.77,207.1,85.6,4.9,254,2977,0.15,2.95,82.43,0.714,4,0.048,0.058,2788,496,2637
$GC,3131,0.77,207.1,67.3,8.3,273,3136,0.00,2.72,0.00,0.000,6,0.000,0.028,2788,1899,2637
$GC,3326,0.77,207.1,52.8,7.5,288,3331,0.00,2.90,0.00,0.000,4,0.000,0.059,2788,482,2637
$GC,3391,0.77,207.1,47.6,8.1,292,3398,0.00,2.72,0.00,0.000,6,0.000,0.028,2788,1881,2637
$GC,3588,0.77,207.1,33.3,7.2,308,3592,0.00,2.85,0.00,0.000,4,0.000,0.060,2788,492,2637
$GC,3652,0.77,207.1,28.1,7.7,312,3659,0.00,2.75,0.00,0.000,6,0.000,0.029,2788,1896,2637
$GC,3853,0.82,259.2,14.1,6.0,334,3897,0.00,3.00,38.17,0.683,4,0.000,0.056,2788,487,2426
$GC,3951,0.90,330.5,8.8,5.6,349,4012,0.00,2.72,52.92,0.669,6,0.000,0.030,2788,1893,2135
$STATE,4025,end climb,SURFACE_DEPTH_REACHED
$STATE,4025,begin surface coast
$FINISH,0.2,1.007795
$STATE,4131,end surface coast,CONTROL_FINISHED_OK
$STATE,4131,begin surface
$SM_CCo,4154,59.15,0.647,0,0,1649,450.13
$SM_GC,0.77,0.00,0.00,59.15,0.000,0.000,0.647,366,2112,1649,-10.32,0.34,450.13
$IRIDIUM_FIX,4729.30,-12301.43,051007,010104
$TT8_MAMPS,0.026845
$HUMID,2158
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,30.820
$10V_AH,10.2,10.848
$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,24.225,57.275,322.725,59.150,0.000,37.119,40.885,124.498,1.000,0.000,0.000,16.455,681.504,2361.094,477.727,657.444,375.870,33.331,877.106,0.000,641.306,0.000,7.069
$DEVICE_MAMPS,148.798,62.127,747.058,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,252.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,9585,377
$CFSIZE,260034560,247693312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,234729,4746.020,-12250.259,10,2.2,30,18.3