version: 66.02
glider: 23
mission: 2
dive: 504
start: 10 9 107 17 59 47
data:
$ID,23
$MISSION,2
$DIVE,504
$D_SURF,5
$D_FLARE,2
$D_TGT,175
$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,25
$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,-28892.52
$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,29
$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,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
$GPS1,173957,4745.092,-12249.732,13,1.8,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-63.3
$GPS2,175832,4745.146,-12249.750,12,1.9,12,18.3
$SPEED_LIMITS,0.278,0.288
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,-0.238
$KALMAN_X,-1628.8,186.7,49.9,1589.5,78.8
$KALMAN_Y,-5231.0,3.2,149.9,4221.7,154.1
$MHEAD_RNG_PITCHd_Wd,192.6,137,-21.6,-12.963
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-1.47,-107.5,0.0,0.0,0,185,0.00,0.00,-149.15,0.000,2,0.000,0.000,365,2075,3583
$GC,189,-1.47,-107.5,2.0,-4.1,25,219,10.80,2.58,-10.55,0.000,4,0.152,0.061,2286,3515,3925
$GC,470,-1.47,-107.5,34.6,-11.3,58,476,0.00,2.42,0.00,0.000,6,0.000,0.034,2286,2091,3925
$GC,667,-1.47,-107.5,54.7,-10.2,74,671,0.00,2.47,0.00,0.000,4,0.000,0.050,2286,3507,3924
$GC,924,-1.47,-107.5,83.7,-10.7,93,928,0.00,2.40,0.00,0.000,6,0.000,0.035,2286,2098,3924
$GC,1121,-1.47,-107.5,104.3,-10.2,108,1125,0.00,2.50,0.00,0.000,4,0.000,0.052,2286,3519,3925
$GC,1378,-1.47,-107.5,132.0,-10.7,127,1383,0.00,2.42,0.00,0.000,6,0.000,0.037,2286,2097,3924
$GC,1575,-1.47,-107.5,151.9,-10.2,142,1579,0.00,2.50,0.00,0.000,4,0.000,0.054,2286,3517,3925
$STATE,1808,end dive,NO_VERTICAL_VELOCITY
$STATE,1809,begin apogee
$GC,1819,-0.31,0.0,161.6,0.0,159,1909,1.20,0.00,83.05,0.798,6,0.074,0.000,2539,1883,3484
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1916,1.47,107.5,161.6,0.0,167,2006,1.85,2.92,81.97,0.779,4,0.071,0.058,2926,477,3046
$GC,2165,1.47,107.5,138.9,14.1,186,2169,0.00,2.75,0.00,0.000,6,0.000,0.031,2927,1892,3045
$GC,2360,1.47,107.5,112.1,13.6,201,2365,0.00,2.58,0.00,0.000,4,0.000,0.047,2928,3300,3046
$GC,2473,1.47,107.5,96.5,13.2,209,2478,0.00,2.58,0.00,0.000,6,0.000,0.041,2926,1890,3045
$GC,2669,1.47,107.5,70.6,13.3,224,2674,0.00,2.58,0.00,0.000,4,0.000,0.045,2926,3300,3045
$GC,2761,1.47,111.0,58.2,12.8,230,2771,0.00,2.58,2.53,0.809,6,0.000,0.040,2926,1886,3031
$GC,2971,1.48,113.0,31.2,12.9,247,2976,0.00,2.60,0.00,0.000,4,0.000,0.045,2927,3309,3032
$GC,3058,1.48,114.3,19.7,12.9,253,3069,0.00,2.60,2.42,0.785,6,0.000,0.041,2926,1878,3018
$GC,3136,1.49,123.3,9.7,12.5,265,3149,0.00,2.65,6.53,0.734,4,0.000,0.046,2926,3309,2981
$STATE,3186,end climb,SURFACE_DEPTH_REACHED
$STATE,3186,begin surface coast
$FINISH,2.9,1.022232
$STATE,3207,end surface coast,CONTROL_FINISHED_OK
$STATE,3207,begin surface
$SM_CCo,3239,282.85,0.630,1,0,580,712.35
$SM_GC,0.61,0.00,0.00,282.85,0.000,0.000,0.630,369,2076,580,-10.31,-0.59,712.35
$IRIDIUM_FIX,4726.11,-12250.84,091007,212133
$TT8_MAMPS,0.04602
$HUMID,2063
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,91.1,7.5
$24V_AH,24.0,42.234
$10V_AH,10.0,14.895
$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,25.825,46.250,176.500,282.850,0.000,188.146,367.749,148.767,1.250,0.000,0.000,13.919,502.643,2028.431,617.978,606.521,907.558,33.325,969.646,0.000,587.154,0.000,8.411
$DEVICE_MAMPS,151.866,60.593,809.185,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.708,0.000,0.000,0.000,0.000,0.000,4094.450,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,6470,276
$CFSIZE,260034560,244133888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091007,190002,4745.123,-12250.002,41,1.1,41,18.3