version: 66.02
glider: 23
mission: 2
dive: 481
start: 10 9 107 0 2 19
data:
$ID,23
$MISSION,2
$DIVE,481
$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,-28734.174
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,234437,4745.089,-12249.709,30,1.3,35,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.6
$GPS2,000121,4745.019,-12249.793,10,1.8,10,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,0.167
$KALMAN_X,-2508.0,33.2,-115.1,2739.3,-85.0
$KALMAN_Y,-3412.0,-212.3,-149.9,2691.7,-75.9
$MHEAD_RNG_PITCHd_Wd,357.5,127,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.75,-76.9,0.0,0.0,0,121,0.00,0.00,-90.15,0.000,2,0.000,0.000,366,2093,3453
$GC,125,-1.78,-107.5,2.2,-4.7,15,157,10.40,2.55,-15.70,0.000,4,0.150,0.061,2218,3517,3923
$GC,204,-1.78,-107.5,10.7,-16.1,27,210,0.00,2.40,0.00,0.000,6,0.000,0.034,2218,2103,3924
$GC,276,-1.78,-107.5,20.6,-12.8,38,280,0.00,2.47,0.00,0.000,4,0.000,0.048,2218,3521,3924
$GC,415,-1.78,-107.5,39.5,-13.5,48,419,0.00,2.42,0.00,0.000,6,0.000,0.035,2218,2096,3925
$GC,618,-1.78,-107.5,66.3,-12.6,64,622,0.00,2.47,0.00,0.000,4,0.000,0.051,2218,3508,3926
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,799,-0.31,0.0,90.3,13.8,76,890,1.60,0.00,83.12,0.736,6,0.112,0.000,2536,1889,3484
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,903,1.78,107.5,94.3,0.0,84,993,2.12,2.95,80.72,0.730,4,0.064,0.057,2999,473,3045
$GC,1028,1.78,107.5,80.9,17.1,94,1032,0.00,2.78,0.00,0.000,6,0.000,0.029,2998,1899,3044
$GC,1223,1.78,107.5,47.2,17.3,109,1228,0.00,2.55,0.00,0.000,4,0.000,0.044,2998,3309,3044
$STATE,1479,end climb,SURFACE_DEPTH_REACHED
$STATE,1479,begin surface coast
$FINISH,0.9,1.022195
$STATE,1513,end surface coast,CONTROL_FINISHED_OK
$STATE,1513,begin surface
$SM_CCo,1555,286.90,0.620,0,0,579,712.35
$SM_GC,0.66,0.00,0.00,286.90,0.000,0.000,0.620,367,2072,579,-10.33,-0.79,712.35
$IRIDIUM_FIX,4729.30,-12249.89,091007,030304
$TT8_MAMPS,0.04602
$HUMID,2039
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,75.4,7.9
$24V_AH,24.0,39.951
$10V_AH,10.0,13.920
$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,26.050,25.675,163.850,286.900,0.000,197.756,417.844,0.000,1.500,0.000,0.000,11.842,265.018,958.123,546.011,301.964,778.815,33.327,743.679,0.000,293.400,0.000,8.663
$DEVICE_MAMPS,150.332,60.593,736.320,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,92.528,0.000,0.000,0.000,0.000,0.000,2449.150,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3307,140
$CFSIZE,260034560,244838400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,003357,4745.122,-12249.775,9,2.0,9,18.3