version: 66.02
glider: 23
mission: 2
dive: 396
start: 10 5 107 18 54 24
data:
$ID,23
$MISSION,2
$DIVE,396
$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,-28293.5
$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,45
$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
$GPS1,184817,4746.156,-12249.607,9,2.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.1
$GPS2,185307,4746.168,-12249.595,13,1.9,29,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.038
$KALMAN_X,21980.4,-36.7,11.6,-17772.2,-21.3
$KALMAN_Y,13628.3,9.1,-46.0,-1764.1,10.6
$MHEAD_RNG_PITCHd_Wd,262.4,833,-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,-107.5,0.0,0.0,0,112,0.00,0.00,-84.82,0.000,2,0.000,0.000,366,2126,3393
$GC,115,-0.97,-107.5,2.0,-3.1,14,153,11.40,3.03,-18.62,0.000,4,0.150,0.058,2396,685,3923
$GC,245,-0.97,-107.5,11.3,-7.8,34,252,0.00,2.85,0.00,0.000,6,0.000,0.031,2396,2090,3924
$GC,319,-0.97,-107.5,15.8,-6.2,45,325,0.00,2.47,0.00,0.000,4,0.000,0.049,2396,3509,3924
$GC,358,-0.97,-107.5,18.2,-6.2,51,364,0.00,2.42,0.00,0.000,6,0.000,0.033,2396,2080,3924
$GC,429,-0.97,-107.5,22.4,-5.7,59,434,0.00,2.90,0.00,0.000,4,0.000,0.051,2396,692,3924
$GC,455,-0.97,-107.5,24.0,-6.1,60,461,0.00,2.85,0.00,0.000,6,0.000,0.031,2396,2106,3924
$GC,651,-0.97,-107.5,35.6,-5.9,76,656,0.00,2.97,0.00,0.000,4,0.000,0.049,2396,688,3925
$GC,675,-0.97,-107.5,37.2,-6.2,77,682,0.00,2.88,0.00,0.000,6,0.000,0.030,2396,2113,3925
$GC,872,-0.97,-107.5,48.6,-5.6,93,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2113,3925
$GC,1064,-0.97,-107.5,59.7,-6.1,108,1068,0.00,2.97,0.00,0.000,4,0.000,0.049,2396,691,3925
$GC,1102,-0.97,-107.5,62.2,-6.0,110,1109,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2106,3925
$GC,1299,-0.97,-107.5,73.7,-5.7,126,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2105,3925
$GC,1488,-0.97,-107.5,84.6,-5.8,141,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2104,3925
$STATE,1678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1678,begin apogee
$GC,1685,-0.31,0.0,95.6,5.9,156,1776,0.68,0.00,82.90,0.749,6,0.087,0.000,2535,1885,3484
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1777,begin climb
$GC,1779,0.97,107.5,97.5,0.0,164,1865,1.35,0.00,81.38,0.730,6,0.068,0.000,2818,1885,3045
$GC,2049,0.97,107.5,79.0,8.2,186,2054,0.00,2.60,0.00,0.000,4,0.000,0.044,2818,3312,3044
$GC,2074,0.97,107.5,76.7,8.4,187,2081,0.00,2.58,0.00,0.000,6,0.000,0.039,2818,1906,3043
$GC,2271,0.97,107.5,61.1,7.8,203,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1906,3043
$GC,2462,0.97,107.5,46.3,7.9,218,2467,0.00,2.92,0.00,0.000,4,0.000,0.059,2818,466,3043
$GC,2487,0.97,107.5,43.9,8.3,219,2494,0.00,2.78,0.00,0.000,6,0.000,0.029,2818,1902,3044
$GC,2684,0.97,107.5,28.6,7.9,235,2688,0.00,2.53,0.00,0.000,4,0.000,0.046,2818,3297,3044
$GC,2709,0.97,107.5,26.4,8.6,236,2716,0.00,2.53,0.00,0.000,6,0.000,0.038,2818,1888,3043
$GC,2910,0.97,111.7,11.8,6.9,260,2917,0.00,0.00,3.05,0.769,6,0.000,0.000,2818,1888,3028
$GC,2983,1.01,148.1,7.2,5.7,271,3020,0.00,2.97,26.65,0.692,4,0.000,0.056,2818,475,2879
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,3.9,1.022049
$STATE,3047,end surface coast,CONTROL_FINISHED_OK
$STATE,3047,begin surface
$SM_CCo,3073,149.12,0.644,1,0,1649,450.13
$SM_GC,0.81,0.00,0.00,149.12,0.000,0.000,0.644,369,2109,1649,-10.31,0.25,450.13
$IRIDIUM_FIX,4729.30,-12248.15,051007,212150
$TT8_MAMPS,0.026845
$HUMID,2124
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,32.476
$10V_AH,10.2,11.347
$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,24.750,50.825,193.975,149.125,0.000,40.901,46.484,91.387,1.000,0.000,0.000,30.989,532.246,1728.791,487.190,475.131,331.920,33.338,776.734,0.000,451.342,0.000,9.284
$DEVICE_MAMPS,149.565,59.059,768.534,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6446,281
$CFSIZE,260034560,247218176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051007,194908,4746.254,-12250.044,12,1.6,12,18.3