version: 66.02
glider: 23
mission: 2
dive: 475
start: 10 8 107 19 18 54
data:
$ID,23
$MISSION,2
$DIVE,475
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,30
$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,712.3512
$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,-28706.102
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,185938,4745.146,-12249.784,8,1.2,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.0
$GPS2,191756,4745.085,-12249.857,11,1.2,29,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.024
$KALMAN_X,-1903.2,-15.1,143.1,1842.7,40.7
$KALMAN_Y,-2395.9,-248.6,25.5,1651.0,3.3
$MHEAD_RNG_PITCHd_Wd,63.9,52,-26.6,-10.000
$D_GRID,174
$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,30,-1.75,-76.9,0.0,0.0,0,123,0.00,0.00,-90.18,0.000,2,0.000,0.000,366,2071,3469
$GC,127,-1.78,-107.5,2.2,-4.6,15,158,10.40,2.95,-15.07,0.000,4,0.150,0.055,2219,682,3923
$GC,219,-1.78,-107.5,13.1,-17.0,29,225,0.00,2.85,0.00,0.000,6,0.000,0.030,2218,2101,3924
$GC,290,-1.78,-107.5,23.7,-13.6,38,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2100,3924
$GC,479,-1.78,-107.5,48.0,-12.7,53,483,0.00,2.45,0.00,0.000,4,0.000,0.049,2219,3517,3924
$GC,737,-1.78,-107.5,83.4,-13.8,72,741,0.00,2.40,0.00,0.000,6,0.000,0.035,2219,2100,3924
$STATE,791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,791,begin apogee
$GC,798,-0.31,0.0,91.3,13.9,76,890,1.60,0.00,83.18,0.734,6,0.110,0.000,2533,1878,3485
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,904,1.78,107.5,94.7,0.0,84,995,2.12,2.90,81.12,0.726,4,0.063,0.056,2996,481,3045
$GC,1040,1.78,107.5,79.3,17.6,94,1047,0.00,2.75,0.00,0.000,6,0.000,0.028,2996,1902,3044
$GC,1237,1.78,107.5,45.9,17.0,110,1241,0.00,2.53,0.00,0.000,4,0.000,0.044,2996,3304,3044
$GC,1494,1.78,107.5,5.3,12.0,136,1500,0.00,2.55,0.00,0.000,6,0.000,0.038,2996,1887,3044
$STATE,1504,end climb,SURFACE_DEPTH_REACHED
$STATE,1504,begin surface coast
$FINISH,0.2,1.004571
$STATE,1545,end surface coast,CONTROL_FINISHED_OK
$STATE,1545,begin surface
$SM_CCo,1575,286.30,0.618,0,0,579,712.35
$SM_GC,0.72,0.00,0.00,286.30,0.000,0.000,0.618,363,2129,579,-10.34,0.82,712.35
$IRIDIUM_FIX,4729.30,-12249.89,081007,232356
$TT8_MAMPS,0.045253
$HUMID,2060
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.5,8.5
$24V_AH,24.0,39.338
$10V_AH,10.0,13.667
$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,26.100,22.275,164.300,286.300,0.000,202.327,429.415,0.000,0.750,0.000,0.000,30.950,268.186,980.401,548.053,334.709,833.037,33.330,747.993,0.000,294.535,0.000,5.376
$DEVICE_MAMPS,150.332,55.991,734.019,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,95.082,0.000,0.000,0.000,0.000,0.000,2528.730,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3322,144
$CFSIZE,260034560,244989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,195050,4745.070,-12249.685,8,1.4,8,18.3