version: 66.02
glider: 23
mission: 2
dive: 511
start: 10 10 107 2 12 24
data:
$ID,23
$MISSION,2
$DIVE,511
$D_SURF,5
$D_FLARE,2
$D_TGT,140
$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,-28817.867
$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
$GPS1,015307,4745.081,-12249.891,29,1.2,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-53.1
$GPS2,021109,4745.201,-12249.875,11,1.3,11,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,-0.216
$KALMAN_X,-2087.8,-20.6,-132.6,2287.1,154.0
$KALMAN_Y,-3985.1,410.5,-61.0,2881.2,115.8
$MHEAD_RNG_PITCHd_Wd,175.6,226,-21.2,-10.370
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.44,-107.5,0.0,0.0,0,185,0.00,0.00,-149.75,0.000,2,0.000,0.000,367,2069,3538
$GC,189,-1.44,-107.5,2.2,-4.9,25,220,10.75,2.58,-11.25,0.000,4,0.150,0.062,2290,3508,3924
$GC,267,-1.44,-107.5,11.1,-12.3,37,273,0.00,2.42,0.00,0.000,6,0.000,0.033,2290,2091,3924
$GC,340,-1.44,-107.5,18.8,-10.3,48,346,0.00,2.50,0.00,0.000,4,0.000,0.049,2290,3509,3924
$GC,451,-1.44,-107.5,31.1,-11.2,57,457,0.00,2.42,0.00,0.000,6,0.000,0.034,2290,2089,3924
$GC,647,-1.44,-107.5,52.3,-10.8,73,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2090,3924
$GC,837,-1.44,-107.5,72.5,-10.8,88,841,0.00,2.50,0.00,0.000,4,0.000,0.051,2290,3508,3924
$GC,1060,-1.44,-107.5,98.2,-11.2,104,1067,0.00,2.42,0.00,0.000,6,0.000,0.036,2290,2089,3924
$GC,1257,-1.44,-107.5,118.8,-10.3,120,1261,0.00,2.50,0.00,0.000,4,0.000,0.051,2290,3515,3924
$GC,1370,-1.44,-107.5,130.9,-10.6,128,1375,0.00,2.42,0.00,0.000,6,0.000,0.037,2290,2094,3924
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1470,-0.31,0.0,140.6,9.9,135,1561,1.23,0.00,83.35,0.782,6,0.098,0.000,2538,1884,3484
$STATE,1565,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1569,1.44,107.5,143.2,0.0,143,1655,1.80,0.00,81.22,0.775,6,0.064,0.000,2921,1886,3045
$GC,1848,1.44,107.5,113.3,13.0,165,1852,0.00,2.60,0.00,0.000,4,0.000,0.046,2921,3301,3044
$GC,1940,1.44,107.5,100.4,13.6,171,1946,0.00,2.58,0.00,0.000,6,0.000,0.041,2921,1898,3044
$GC,2137,1.44,107.5,75.4,12.8,187,2141,0.00,2.58,0.00,0.000,4,0.000,0.046,2921,3300,3044
$GC,2223,1.44,107.5,64.2,12.9,193,2227,0.00,2.58,0.00,0.000,6,0.000,0.041,2920,1888,3044
$GC,2419,1.44,107.5,39.9,12.3,208,2423,0.00,2.60,0.00,0.000,4,0.000,0.045,2921,3308,3044
$GC,2518,1.44,107.5,27.6,12.4,215,2523,0.00,2.60,0.00,0.000,6,0.000,0.041,2921,1879,3044
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.0,1.021962
$STATE,2784,end surface coast,CONTROL_FINISHED_OK
$STATE,2784,begin surface
$SM_CCo,2815,287.52,0.634,0,0,579,712.35
$SM_GC,0.53,0.00,0.00,287.52,0.000,0.000,0.634,365,2115,579,-10.33,0.42,712.35
$IRIDIUM_FIX,4726.11,-12252.58,101007,060640
$TT8_MAMPS,0.04602
$HUMID,2076
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,111.0,7.6
$24V_AH,23.9,43.129
$10V_AH,9.9,15.295
$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,25.350,36.200,164.575,287.525,0.000,198.445,375.840,0.000,3.000,0.000,0.000,13.270,447.232,1785.520,605.564,517.842,846.502,33.326,905.122,0.000,476.829,0.000,12.729
$DEVICE_MAMPS,149.565,62.127,782.340,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.892,0.000,0.000,0.000,0.000,0.000,3710.980,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,6436,250
$CFSIZE,260034560,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,030503,4744.955,-12249.851,9,2.0,9,18.3