version: 66.02
glider: 23
mission: 2
dive: 513
start: 10 10 107 4 31 53
data:
$ID,23
$MISSION,2
$DIVE,513
$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,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,-28815.17
$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,26
$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
$GPS1,041208,4745.101,-12249.938,29,1.5,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-48.7
$GPS2,043038,4745.309,-12249.852,13,1.6,13,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.116,-0.192
$KALMAN_X,-1915.9,-12.6,106.4,1896.0,90.2
$KALMAN_Y,-3252.3,482.1,64.4,2146.7,118.0
$MHEAD_RNG_PITCHd_Wd,192.7,1440,-20.1,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.37,-107.5,0.0,0.0,0,185,0.00,0.00,-149.48,0.000,2,0.000,0.000,366,2069,3533
$GC,189,-1.37,-107.5,2.2,-6.3,25,213,10.77,0.00,-11.65,0.000,6,0.147,0.000,2304,2074,3924
$GC,281,-1.37,-107.5,11.4,-9.6,39,287,0.00,2.53,0.00,0.000,4,0.000,0.048,2304,3514,3924
$GC,320,-1.37,-107.5,15.9,-11.7,45,326,0.00,2.42,0.00,0.000,6,0.000,0.034,2304,2094,3923
$GC,392,-1.37,-107.5,22.9,-9.6,54,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2094,3925
$GC,582,-1.37,-107.5,41.5,-9.9,69,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2094,3925
$GC,771,-1.37,-107.5,59.9,-9.4,84,775,0.00,2.50,0.00,0.000,4,0.000,0.051,2304,3512,3926
$GC,896,-1.37,-107.5,72.5,-10.2,93,901,0.00,2.42,0.00,0.000,6,0.000,0.036,2304,2095,3925
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1085,-0.31,0.0,90.4,9.5,107,1175,1.15,0.00,82.18,0.744,6,0.095,0.000,2536,1885,3484
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1194,1.37,107.5,92.8,0.0,115,1279,1.70,0.00,80.90,0.735,6,0.065,0.000,2908,1885,3045
$GC,1463,1.37,107.5,65.8,11.7,137,1467,0.00,2.62,0.00,0.000,4,0.000,0.045,2907,3311,3046
$GC,1555,1.37,107.5,54.3,12.3,143,1561,0.00,2.60,0.00,0.000,6,0.000,0.041,2907,1891,3046
$GC,1751,1.37,107.5,31.4,11.4,159,1755,0.00,2.58,0.00,0.000,4,0.000,0.046,2908,3300,3044
$GC,1798,1.37,107.5,25.9,11.7,162,1802,0.00,2.58,0.00,0.000,6,0.000,0.040,2907,1889,3044
$STATE,1984,end climb,SURFACE_DEPTH_REACHED
$STATE,1984,begin surface coast
$FINISH,0.6,1.022337
$STATE,2032,end surface coast,CONTROL_FINISHED_OK
$STATE,2032,begin surface
$SM_CCo,2065,286.98,0.625,0,0,579,712.35
$SM_GC,0.48,0.00,0.00,286.98,0.000,0.000,0.625,366,2117,579,-10.32,0.48,712.35
$IRIDIUM_FIX,4729.30,-12252.58,101007,080856
$TT8_MAMPS,0.045253
$HUMID,2062
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,70.5,7.9
$24V_AH,24.0,43.371
$10V_AH,10.0,15.402
$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,25.025,21.150,163.075,286.975,0.000,199.565,440.913,0.000,2.500,0.000,0.000,15.411,345.184,1300.385,595.848,361.352,879.297,33.336,818.288,0.000,333.178,0.000,6.894
$DEVICE_MAMPS,147.264,50.622,743.990,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.889,0.000,0.000,0.000,0.000,0.000,3094.530,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,6431,193
$CFSIZE,260034560,243539968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,051223,4745.203,-12249.897,11,2.3,30,18.3