version: 66.02
glider: 23
mission: 2
dive: 389
start: 10 5 107 12 5 8
data:
$ID,23
$MISSION,2
$DIVE,389
$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,-28255.131
$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,23
$R_STBD_OVSHOOT,46
$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
$GPS1,115438,4746.212,-12249.712,38,1.7,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.1
$GPS2,120351,4746.126,-12249.371,14,1.6,14,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,-0.062
$KALMAN_X,22205.0,-70.8,-27.7,-17645.7,24.2
$KALMAN_Y,13896.1,-122.6,28.8,-2050.7,44.9
$MHEAD_RNG_PITCHd_Wd,89.6,874,-13.6,-7.037
$D_GRID,165
$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,-90.80,0.000,2,0.000,0.000,364,2129,3495
$GC,123,-0.97,-107.5,2.2,-3.8,15,154,11.40,3.03,-12.98,0.000,4,0.150,0.058,2392,682,3924
$GC,405,-0.97,-107.5,23.3,-6.9,54,411,0.00,2.85,0.00,0.000,6,0.000,0.031,2392,2097,3924
$GC,601,-0.97,-107.5,35.4,-6.5,70,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2096,3924
$GC,793,-0.97,-107.5,47.1,-6.2,85,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2096,3925
$GC,982,-0.97,-107.5,58.8,-6.2,100,986,0.00,2.95,0.00,0.000,4,0.000,0.049,2392,680,3925
$GC,1020,-0.97,-107.5,61.6,-7.1,102,1027,0.00,2.88,0.00,0.000,6,0.000,0.030,2392,2112,3925
$GC,1217,-0.97,-107.5,73.6,-6.2,118,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2110,3925
$GC,1406,-0.97,-107.5,85.5,-6.1,133,1411,0.00,2.97,0.00,0.000,4,0.000,0.049,2392,689,3925
$GC,1483,-0.97,-107.5,90.6,-6.6,138,1490,0.00,2.85,0.00,0.000,6,0.000,0.031,2392,2104,3925
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1571,-0.31,0.0,95.4,5.8,145,1657,0.73,0.00,82.78,0.745,6,0.092,0.000,2537,1868,3484
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1660,0.97,107.5,97.2,0.0,152,1746,1.33,0.00,81.20,0.729,6,0.067,0.000,2816,1868,3045
$GC,1929,0.97,107.5,79.2,7.8,174,1934,0.00,2.83,0.00,0.000,4,0.000,0.056,2816,490,3045
$GC,1975,0.97,107.5,75.2,8.9,177,1979,0.00,2.72,0.00,0.000,6,0.000,0.028,2816,1896,3044
$GC,2170,0.97,107.5,60.1,7.9,192,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1898,3045
$GC,2361,0.97,107.5,45.9,7.4,207,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1898,3045
$GC,2553,0.97,107.5,31.6,7.5,222,2557,0.00,2.55,0.00,0.000,4,0.000,0.046,2816,3300,3045
$GC,2591,0.97,107.5,28.3,8.1,224,2598,0.00,2.55,0.00,0.000,6,0.000,0.038,2816,1903,3044
$GC,2790,0.97,107.5,13.4,7.7,246,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1903,3044
$GC,2863,1.01,141.8,9.1,5.8,257,2894,0.00,0.00,24.95,0.696,6,0.000,0.000,2816,1903,2905
$STATE,2959,end climb,SURFACE_DEPTH_REACHED
$STATE,2959,begin surface coast
$FINISH,0.3,1.002415
$STATE,3084,end surface coast,CONTROL_FINISHED_OK
$STATE,3084,begin surface
$SM_CCo,3107,147.27,0.646,0,0,1648,450.13
$SM_GC,0.80,0.00,0.00,147.27,0.000,0.000,0.646,364,2116,1648,-10.33,0.45,450.13
$IRIDIUM_FIX,4729.30,-12248.15,051007,151532
$TT8_MAMPS,0.026845
$HUMID,2119
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,31.932
$10V_AH,10.2,11.180
$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,24.550,29.075,188.925,147.275,0.000,77.622,74.320,237.817,1.750,0.000,0.000,16.047,542.166,1828.865,450.527,482.064,541.033,33.368,734.048,0.000,472.137,0.000,7.062
$DEVICE_MAMPS,150.332,58.292,744.757,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6434,291
$CFSIZE,260034560,247402496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,130014,4746.051,-12248.966,7,1.8,7,18.3