version: 66.02
glider: 23
mission: 2
dive: 381
start: 10 5 107 2 23 38
data:
$ID,23
$MISSION,2
$DIVE,381
$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,-28254.797
$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,21
$R_STBD_OVSHOOT,43
$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
$GPS1,020537,4746.158,-12249.847,22,1.1,39,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,4
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.3
$GPS2,022221,4746.104,-12249.902,13,1.3,13,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,-0.015
$KALMAN_X,22568.5,-20.8,3.9,-18750.9,-30.7
$KALMAN_Y,14389.7,-65.8,-66.4,-2548.2,-12.0
$MHEAD_RNG_PITCHd_Wd,75.8,1521,-13.6,-7.037
$D_GRID,166
$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,-0.97,-107.5,0.0,0.0,0,123,0.00,0.00,-96.38,0.000,2,0.000,0.000,363,2120,3606
$GC,128,-0.97,-107.5,2.2,-3.8,16,159,11.38,3.08,-9.12,0.000,4,0.149,0.059,2394,682,3923
$GC,213,-0.97,-107.5,9.9,-8.8,29,219,0.00,2.83,0.00,0.000,6,0.000,0.030,2394,2086,3923
$GC,286,-0.97,-107.5,15.9,-7.3,40,292,0.00,2.95,0.00,0.000,4,0.000,0.049,2394,677,3924
$GC,312,-0.97,-107.5,17.7,-6.9,44,318,0.00,2.88,0.00,0.000,6,0.000,0.030,2394,2109,3924
$GC,390,-0.97,-107.5,22.2,-5.5,53,394,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,3513,3924
$GC,428,-0.97,-107.5,24.5,-6.0,55,435,0.00,2.42,0.00,0.000,6,0.000,0.033,2394,2083,3924
$GC,625,-0.97,-107.5,35.8,-5.7,71,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2084,3925
$GC,817,-0.97,-107.5,46.8,-5.6,86,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2084,3925
$GC,1006,-0.97,-107.5,57.9,-5.8,101,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2084,3925
$GC,1194,-0.97,-107.5,68.9,-5.9,116,1199,0.00,2.90,0.00,0.000,4,0.000,0.052,2394,688,3925
$GC,1228,-0.97,-107.5,71.0,-6.2,118,1232,0.00,2.85,0.00,0.000,6,0.000,0.031,2394,2108,3925
$GC,1424,-0.97,-107.5,82.8,-6.0,133,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2106,3925
$GC,1615,-0.97,-107.5,93.8,-5.7,148,1620,0.00,2.95,0.00,0.000,4,0.000,0.050,2394,692,3925
$STATE,1632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1632,begin apogee
$GC,1641,-0.31,0.0,95.1,5.9,149,1732,0.70,0.00,82.90,0.744,6,0.087,0.000,2538,1904,3484
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1736,0.97,107.5,96.9,0.0,157,1821,1.33,0.00,81.45,0.725,6,0.065,0.000,2818,1904,3045
$GC,2005,0.97,107.5,78.2,8.0,179,2009,0.00,2.92,0.00,0.000,4,0.000,0.057,2817,476,3044
$GC,2037,0.97,107.5,75.4,9.0,181,2042,0.00,2.72,0.00,0.000,6,0.000,0.029,2817,1891,3044
$GC,2233,0.97,107.5,59.7,8.2,196,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1894,3044
$GC,2424,0.97,107.5,44.7,7.9,211,2429,0.00,2.88,0.00,0.000,4,0.000,0.056,2817,485,3044
$GC,2449,0.97,107.5,42.4,7.9,212,2456,0.00,2.72,0.00,0.000,6,0.000,0.029,2817,1884,3044
$GC,2646,0.97,107.5,27.2,7.5,228,2650,0.00,2.58,0.00,0.000,4,0.000,0.047,2815,3307,3043
$GC,2678,0.97,107.5,24.6,7.9,230,2683,0.00,2.55,0.00,0.000,6,0.000,0.038,2817,1895,3043
$GC,2881,1.00,135.6,9.9,6.0,255,2906,0.00,2.97,20.20,0.693,4,0.000,0.056,2817,470,2930
$GC,2968,1.05,179.8,5.6,5.5,268,2981,0.00,2.75,8.23,0.710,2,0.000,0.030,2817,1897,2886
$STATE,2982,end climb,SURFACE_DEPTH_REACHED
$STATE,2982,begin surface coast
$FINISH,0.1,1.002200
$STATE,3079,end surface coast,CONTROL_FINISHED_OK
$STATE,3079,begin surface
$SM_CCo,3101,268.45,0.628,0,0,579,712.35
$SM_GC,0.65,0.00,0.00,268.45,0.000,0.000,0.628,366,2109,579,-10.32,0.25,712.35
$IRIDIUM_FIX,4729.30,-12252.58,051007,060603
$TT8_MAMPS,0.026845
$HUMID,2108
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.6,999.0
$24V_AH,24.0,31.123
$10V_AH,10.2,10.937
$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,24.500,50.275,192.775,268.450,0.000,197.308,378.862,83.756,2.500,0.000,0.000,14.770,544.242,1987.046,591.112,469.633,820.859,33.348,883.918,0.000,460.538,0.000,8.867
$DEVICE_MAMPS,148.798,59.059,743.990,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6463,285
$CFSIZE,260034560,247619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,032045,4746.062,-12249.463,12,1.8,12,18.3