version: 66.02
glider: 23
mission: 2
dive: 391
start: 10 5 107 14 7 26
data:
$ID,23
$MISSION,2
$DIVE,391
$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,-28262.801
$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,22
$R_STBD_OVSHOOT,38
$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
$GPS1,140152,4745.917,-12248.678,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.9
$GPS2,140609,4745.908,-12248.677,12,1.6,12,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,0.193
$KALMAN_X,22045.6,-82.2,6.5,-16638.2,-18.7
$KALMAN_Y,13724.9,-86.7,31.3,-2320.7,-28.4
$MHEAD_RNG_PITCHd_Wd,342.4,214,-14.7,-7.037
$D_GRID,133
$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,-1.03,-107.5,0.0,0.0,0,111,0.00,0.00,-84.97,0.000,2,0.000,0.000,366,2109,3395
$GC,115,-1.03,-107.5,2.1,-3.2,14,152,11.30,3.00,-18.10,0.000,4,0.150,0.058,2378,687,3924
$GC,211,-1.03,-107.5,9.6,-9.6,29,218,0.00,2.85,0.00,0.000,6,0.000,0.030,2378,2092,3924
$GC,284,-1.03,-107.5,15.2,-7.6,40,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2093,3924
$GC,357,-1.03,-107.5,20.1,-6.9,51,361,0.00,2.95,0.00,0.000,4,0.000,0.049,2378,689,3924
$GC,376,-1.03,-107.5,21.5,-6.8,52,381,0.00,2.88,0.00,0.000,6,0.000,0.030,2378,2111,3924
$GC,572,-1.03,-107.5,34.7,-6.6,67,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2110,3925
$GC,764,-1.03,-107.5,47.1,-6.3,82,767,0.00,2.45,0.00,0.000,4,0.000,0.051,2378,3514,3926
$GC,803,-1.03,-107.5,50.0,-7.2,85,810,0.00,2.42,0.00,0.000,6,0.000,0.035,2378,2087,3926
$GC,1006,-1.03,-107.5,63.1,-6.4,101,1011,0.00,2.92,0.00,0.000,4,0.000,0.052,2378,687,3926
$GC,1039,-1.03,-107.5,65.4,-7.0,103,1044,0.00,2.88,0.00,0.000,6,0.000,0.031,2378,2111,3926
$GC,1235,-1.03,-107.5,78.1,-6.6,118,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2109,3926
$GC,1427,-1.03,-107.5,90.4,-6.1,133,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2109,3926
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1504,-0.31,0.0,95.2,6.2,139,1590,0.75,0.00,82.95,0.746,6,0.060,0.000,2540,1875,3484
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1595,1.03,107.5,95.2,0.0,146,1679,1.35,0.00,81.00,0.730,6,0.064,0.000,2829,1875,3045
$GC,1863,1.03,107.5,77.2,8.1,168,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1875,3044
$GC,2054,1.03,107.5,62.4,7.3,183,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1875,3045
$GC,2244,1.03,107.5,47.8,7.9,198,2248,0.00,2.85,0.00,0.000,4,0.000,0.058,2829,481,3045
$GC,2277,1.03,107.5,44.7,8.8,200,2281,0.00,2.72,0.00,0.000,6,0.000,0.029,2829,1892,3044
$GC,2472,1.03,107.5,29.7,7.7,215,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1893,3044
$GC,2664,1.04,116.2,15.7,6.7,234,2677,0.00,2.90,6.15,0.742,4,0.000,0.055,2829,484,3009
$GC,2696,1.04,116.2,13.2,7.6,239,2703,0.00,2.72,0.00,0.000,6,0.000,0.029,2829,1893,3009
$GC,2769,1.07,135.5,8.2,6.3,250,2789,0.00,2.65,13.80,0.710,4,0.000,0.046,2829,3300,2930
$GC,2822,1.10,170.3,5.2,5.7,258,2830,0.00,2.53,2.70,0.764,2,0.000,0.037,2829,1904,2915
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.2,1.003667
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2951,147.30,0.646,0,0,1648,450.13
$SM_GC,0.93,0.00,0.00,147.30,0.000,0.000,0.646,367,2129,1648,-10.32,0.82,450.13
$IRIDIUM_FIX,4729.30,-12245.46,051007,171755
$TT8_MAMPS,0.026845
$HUMID,2123
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.0,28.1
$24V_AH,24.0,32.089
$10V_AH,10.2,11.228
$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,24.550,39.625,186.600,147.300,0.000,35.367,35.435,92.699,1.000,0.000,0.000,14.177,523.090,1662.660,452.760,442.668,312.781,33.361,728.777,0.000,435.037,0.000,6.962
$DEVICE_MAMPS,150.332,58.292,763.932,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6450,274
$CFSIZE,260034560,247345152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,150002,4746.173,-12248.664,8,1.4,13,18.3