version: 66.02
glider: 23
mission: 2
dive: 421
start: 10 6 107 22 11 24
data:
$ID,23
$MISSION,2
$DIVE,421
$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,-28226.322
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,220207,4746.210,-12248.996,34,1.1,34,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-53.9
$GPS2,221009,4746.323,-12248.930,10,1.4,10,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.197
$KALMAN_X,22642.2,96.2,52.5,-17782.4,75.5
$KALMAN_Y,14764.4,247.0,135.6,-3038.7,151.9
$MHEAD_RNG_PITCHd_Wd,147.3,633,-13.6,-7.037
$D_GRID,157
$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,-107.5,0.0,0.0,0,124,0.00,0.00,-94.75,0.000,2,0.000,0.000,366,2086,3565
$GC,130,-0.97,-107.5,2.2,-3.7,16,161,11.35,2.50,-11.70,0.000,4,0.150,0.063,2392,3508,3923
$GC,207,-0.97,-107.5,7.9,-7.3,28,213,0.00,2.42,0.00,0.000,6,0.000,0.035,2392,2089,3924
$GC,280,-0.97,-107.5,12.9,-7.4,39,286,0.00,2.47,0.00,0.000,4,0.000,0.048,2392,3503,3924
$GC,405,-0.97,-107.5,22.5,-7.1,55,411,0.00,2.40,0.00,0.000,6,0.000,0.035,2392,2095,3924
$GC,601,-0.97,-107.5,33.6,-6.0,71,606,0.00,2.95,0.00,0.000,4,0.000,0.052,2392,682,3924
$GC,647,-0.97,-107.5,36.4,-6.0,74,652,0.00,2.88,0.00,0.000,6,0.000,0.031,2392,2105,3924
$GC,843,-0.97,-107.5,47.9,-6.1,89,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2105,3924
$GC,1035,-0.97,-107.5,58.9,-5.7,104,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2104,3924
$GC,1226,-0.97,-107.5,70.1,-6.0,119,1231,0.00,2.97,0.00,0.000,4,0.000,0.051,2392,685,3924
$GC,1278,-0.97,-107.5,73.5,-6.1,122,1285,0.00,2.88,0.00,0.000,6,0.000,0.031,2392,2116,3924
$GC,1474,-0.97,-107.5,84.5,-5.7,138,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2116,3924
$STATE,1651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1651,begin apogee
$GC,1658,-0.31,0.0,95.0,6.0,152,1749,0.70,0.00,83.15,0.743,6,0.085,0.000,2537,1881,3483
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1752,0.97,107.5,96.7,0.0,160,1837,1.35,0.00,80.90,0.736,6,0.065,0.000,2821,1881,3045
$GC,2022,0.97,107.5,77.7,8.4,182,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1881,3045
$GC,2214,0.97,107.5,62.0,8.4,197,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1881,3044
$GC,2403,0.97,107.5,47.0,7.4,212,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1881,3044
$GC,2592,0.97,107.5,32.0,7.9,227,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1881,3044
$GC,2781,0.99,123.2,17.7,6.5,244,2799,0.00,2.65,11.57,0.719,4,0.000,0.046,2821,3313,2980
$GC,2862,0.99,125.1,12.1,7.0,256,2868,0.00,2.53,0.00,0.000,6,0.000,0.035,2821,1901,2979
$GC,2935,1.01,145.8,6.7,6.3,267,2960,0.00,2.60,16.27,0.705,4,0.000,0.042,2821,3297,2888
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2964,begin surface coast
$FINISH,0.3,1.021276
$STATE,3057,end surface coast,CONTROL_FINISHED_OK
$STATE,3057,begin surface
$SM_CCo,3082,143.52,0.638,0,0,1649,450.13
$SM_GC,0.65,0.00,0.00,143.52,0.000,0.000,0.638,365,2078,1649,-10.33,-0.65,450.13
$IRIDIUM_FIX,4729.30,-12247.19,071007,010138
$TT8_MAMPS,0.026845
$HUMID,2111
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,34.651
$10V_AH,10.2,12.009
$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,24.525,31.875,191.900,143.525,0.000,40.992,41.966,306.235,1.250,0.000,0.000,12.469,529.452,1757.052,457.304,455.593,544.656,33.347,733.695,0.000,448.930,0.000,7.061
$DEVICE_MAMPS,149.565,62.894,743.223,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6438,286
$CFSIZE,260034560,246562816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,230608,4746.125,-12248.674,13,2.0,13,18.3