version: 66.02
glider: 23
mission: 2
dive: 433
start: 10 7 107 11 58 18
data:
$ID,23
$MISSION,2
$DIVE,433
$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,-28169.402
$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,51
$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,3
$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
$GPS1,114220,4746.141,-12249.280,7,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-59.1
$GPS2,115703,4746.218,-12249.335,16,2.0,16,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,0.031
$KALMAN_X,23109.3,17.3,60.0,-18677.3,-66.7
$KALMAN_Y,18113.7,376.8,36.4,-6610.8,-43.0
$MHEAD_RNG_PITCHd_Wd,260.4,1142,-13.6,-7.037
$D_GRID,164
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.97,-107.5,0.0,0.0,0,129,0.00,0.00,-96.07,0.000,2,0.000,0.000,366,2130,3554
$GC,133,-0.97,-107.5,2.1,-3.1,16,164,11.30,3.05,-12.48,0.000,4,0.146,0.056,2396,676,3923
$GC,396,-0.97,-107.5,22.5,-7.9,54,401,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2082,3924
$GC,592,-0.97,-107.5,33.4,-5.1,69,596,0.00,2.47,0.00,0.000,4,0.000,0.051,2396,3509,3924
$GC,758,-0.97,-107.5,43.8,-6.7,81,762,0.00,2.40,0.00,0.000,6,0.000,0.034,2396,2086,3924
$GC,954,-0.97,-107.5,54.4,-5.5,96,959,0.00,2.90,0.00,0.000,4,0.000,0.051,2396,696,3924
$GC,993,-0.97,-107.5,56.8,-5.7,98,999,0.00,2.85,0.00,0.000,6,0.000,0.031,2396,2102,3924
$GC,1190,-0.97,-107.5,67.2,-4.8,114,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2102,3924
$GC,1379,-0.97,-107.5,76.8,-5.2,129,1383,0.00,2.95,0.00,0.000,4,0.000,0.050,2397,690,3924
$GC,1404,-0.97,-107.5,78.1,-4.9,130,1410,0.00,2.85,0.00,0.000,6,0.000,0.031,2397,2101,3924
$GC,1600,-0.97,-107.5,87.8,-5.1,146,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3924
$STATE,1749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1749,begin apogee
$GC,1756,-0.31,0.0,95.4,5.1,158,1847,0.70,0.00,83.22,0.746,6,0.084,0.000,2538,1880,3483
$STATE,1852,end apogee,CONTROL_FINISHED_OK
$STATE,1852,begin climb
$GC,1855,0.97,107.5,96.5,0.0,166,1944,1.30,0.00,81.50,0.730,6,0.066,0.000,2815,1880,3044
$GC,2134,0.97,107.5,76.1,8.1,189,2139,0.00,2.88,0.00,0.000,4,0.000,0.058,2815,477,3043
$GC,2159,0.97,107.5,73.7,9.2,190,2166,0.00,2.78,0.00,0.000,6,0.000,0.028,2815,1902,3043
$GC,2356,0.97,107.5,57.8,7.8,206,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1905,3043
$GC,2546,0.97,107.5,42.7,8.0,221,2550,0.00,2.92,0.00,0.000,4,0.000,0.058,2815,486,3043
$GC,2584,0.97,107.5,39.4,8.5,223,2590,0.00,2.75,0.00,0.000,6,0.000,0.029,2815,1897,3043
$GC,2780,0.97,107.5,24.8,7.1,239,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1899,3043
$GC,2976,1.03,163.1,12.5,5.1,263,3018,0.00,0.00,40.58,0.689,6,0.000,0.000,2815,1899,2820
$GC,3085,1.07,205.2,6.6,5.5,280,3116,0.12,0.00,28.55,0.682,2,0.052,0.000,2849,1899,2662
$STATE,3117,end climb,SURFACE_DEPTH_REACHED
$STATE,3117,begin surface coast
$FINISH,0.2,1.011401
$STATE,3214,end surface coast,CONTROL_FINISHED_OK
$STATE,3214,begin surface
$SM_CCo,3247,118.00,0.644,0,0,1649,450.13
$SM_GC,0.74,0.00,0.00,118.00,0.000,0.000,0.644,364,2120,1649,-10.33,0.57,450.13
$IRIDIUM_FIX,4729.30,-12252.58,071007,151544
$TT8_MAMPS,0.045253
$HUMID,2101
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,50.3,8.0
$24V_AH,24.0,35.797
$10V_AH,10.0,12.593
$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,24.725,34.525,233.850,118.000,0.000,79.833,78.224,448.296,3.500,0.000,0.000,18.194,509.970,1940.068,458.937,526.590,832.019,33.346,764.439,0.000,494.946,0.000,5.376
$DEVICE_MAMPS,146.497,57.525,746.291,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.048,0.000,0.000,0.000,0.000,0.000,3760.180,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.975,0.000
$DATA_FILE_SIZE,9586,300
$CFSIZE,260034560,246013952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,125537,4746.342,-12249.730,27,1.8,27,18.3