version: 66.02
glider: 23
mission: 2
dive: 398
start: 10 5 107 21 17 0
data:
$ID,23
$MISSION,2
$DIVE,398
$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,-28288.457
$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,25
$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
$GPS1,210037,4746.175,-12250.356,29,1.4,40,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.0
$GPS2,211545,4746.208,-12250.341,12,1.5,12,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,-0.060
$KALMAN_X,22030.7,-9.1,-5.4,-18764.3,20.4
$KALMAN_Y,13752.3,49.3,-12.3,-1887.4,72.7
$MHEAD_RNG_PITCHd_Wd,89.0,2088,-13.6,-7.037
$D_GRID,153
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.97,-107.5,0.0,0.0,0,114,0.00,0.00,-84.95,0.000,2,0.000,0.000,370,2098,3365
$GC,117,-0.97,-107.5,2.0,-2.8,14,155,11.32,2.53,-20.98,0.000,4,0.148,0.061,2396,3509,3924
$GC,386,-0.97,-107.5,19.3,-6.0,55,393,0.00,2.40,0.00,0.000,6,0.000,0.034,2396,2089,3924
$GC,463,-0.97,-107.5,23.6,-5.7,62,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2089,3924
$GC,655,-0.97,-107.5,34.2,-5.7,77,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2089,3924
$GC,844,-0.97,-107.5,45.3,-5.7,92,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2089,3923
$GC,1033,-0.97,-107.5,56.2,-5.6,107,1037,0.00,2.92,0.00,0.000,4,0.000,0.052,2396,687,3924
$GC,1071,-0.97,-107.5,58.7,-6.0,109,1078,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2102,3925
$GC,1268,-0.97,-107.5,70.1,-5.6,125,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2102,3924
$GC,1457,-0.97,-107.5,80.8,-5.5,140,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2101,3925
$GC,1648,-0.97,-107.5,91.4,-5.8,155,1653,0.00,2.97,0.00,0.000,4,0.000,0.051,2395,684,3925
$GC,1668,-0.97,-107.5,92.6,-5.5,156,1673,0.00,2.85,0.00,0.000,6,0.000,0.030,2397,2104,3924
$STATE,1710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1710,begin apogee
$GC,1717,-0.31,0.0,95.3,6.0,159,1803,0.70,0.00,82.93,0.746,6,0.084,0.000,2538,1881,3484
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1807,0.97,107.5,96.7,0.0,166,1892,1.33,0.00,81.00,0.728,6,0.066,0.000,2818,1881,3045
$GC,2082,0.97,107.5,77.5,8.3,188,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3045
$GC,2272,0.97,107.5,62.3,7.8,203,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3045
$GC,2462,0.97,107.5,47.5,7.6,218,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3045
$GC,2652,0.97,107.5,32.9,7.6,233,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3045
$GC,2841,0.97,107.5,18.2,7.7,249,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3044
$GC,2913,0.97,109.3,12.9,7.0,260,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1881,3044
$GC,2986,1.01,141.4,8.0,5.9,271,3017,0.00,2.62,24.77,0.696,4,0.000,0.045,2819,3298,2906
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.2,1.012042
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3154,begin surface
$SM_CCo,3178,145.45,0.650,0,0,1648,450.13
$SM_GC,1.03,0.00,0.00,145.45,0.000,0.000,0.650,366,2089,1648,-10.32,-0.31,450.13
$IRIDIUM_FIX,4729.30,-12245.46,061007,010123
$TT8_MAMPS,0.026845
$HUMID,2134
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,32.669
$10V_AH,10.2,11.407
$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,24.500,21.725,188.700,145.450,0.000,151.944,295.035,167.561,2.000,0.000,0.000,14.315,551.902,2025.012,440.995,467.667,782.633,33.344,720.104,0.000,460.097,0.000,9.415
$DEVICE_MAMPS,148.031,61.360,746.291,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,9588,297
$CFSIZE,260034560,247156736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,221335,4746.132,-12249.910,6,2.1,25,18.3