version: 66.02
glider: 23
mission: 2
dive: 515
start: 10 10 107 6 47 48
data:
$ID,23
$MISSION,2
$DIVE,515
$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,707.44519
$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,-28787.047
$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,19
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$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
$GPS1,062803,4745.446,-12249.643,31,1.3,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-58.9
$GPS2,064633,4745.621,-12249.543,12,1.4,12,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.107,-0.197
$KALMAN_X,-1498.0,69.8,265.6,1617.4,72.4
$KALMAN_Y,-2477.9,583.1,286.3,1630.6,141.6
$MHEAD_RNG_PITCHd_Wd,190.1,2132,-20.1,-10.000
$D_GRID,172
$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,-107.5,0.0,0.0,0,130,0.00,0.00,-95.70,0.000,2,0.000,0.000,364,2106,3524
$GC,135,-1.37,-107.5,2.0,-3.9,16,166,10.85,2.97,-13.12,0.000,4,0.150,0.058,2306,678,3924
$GC,193,-1.37,-107.5,6.9,-10.4,25,199,0.00,2.85,0.00,0.000,6,0.000,0.028,2307,2108,3924
$GC,266,-1.37,-107.5,13.8,-8.5,36,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2111,3924
$GC,345,-1.37,-107.5,22.5,-9.9,46,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2110,3924
$GC,534,-1.37,-107.5,41.8,-10.2,61,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2109,3924
$GC,724,-1.37,-107.5,60.8,-9.9,76,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2109,3924
$GC,912,-1.37,-107.5,79.7,-10.2,91,917,0.00,2.45,0.00,0.000,4,0.000,0.050,2306,3506,3924
$STATE,1015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1015,begin apogee
$GC,1026,-0.31,0.0,90.6,10.5,98,1117,1.15,0.00,82.78,0.749,6,0.098,0.000,2536,1880,3484
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1124,1.37,107.5,93.4,0.0,106,1213,1.73,2.92,80.75,0.738,4,0.067,0.056,2903,481,3045
$GC,1228,1.37,107.5,86.3,10.4,114,1234,0.00,2.72,0.00,0.000,6,0.000,0.028,2903,1885,3044
$GC,1424,1.37,107.5,62.9,11.8,130,1429,0.00,2.60,0.00,0.000,4,0.000,0.046,2903,3311,3045
$GC,1484,1.37,107.5,55.7,12.2,134,1488,0.00,2.60,0.00,0.000,6,0.000,0.044,2903,1887,3044
$GC,1681,1.37,107.5,33.1,11.2,149,1685,0.00,2.60,0.00,0.000,4,0.000,0.045,2903,3311,3044
$GC,1714,1.37,107.5,29.2,12.3,151,1718,0.00,2.60,0.00,0.000,6,0.000,0.039,2903,1888,3044
$GC,1915,1.37,110.5,6.7,9.8,175,1922,0.00,2.67,2.12,0.775,4,0.000,0.048,2903,3300,3033
$STATE,1933,end climb,SURFACE_DEPTH_REACHED
$STATE,1933,begin surface coast
$FINISH,0.2,1.010638
$STATE,1994,end surface coast,CONTROL_FINISHED_OK
$STATE,1994,begin surface
$SM_CCo,2026,283.10,0.627,0,0,600,707.45
$SM_GC,0.58,0.00,0.00,283.10,0.000,0.000,0.627,363,2072,600,-10.34,-0.79,707.45
$IRIDIUM_FIX,4726.11,-12252.58,101007,101005
$TT8_MAMPS,0.04602
$HUMID,2042
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,75.8,999.0
$24V_AH,24.0,43.650
$10V_AH,10.0,15.518
$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,25.250,32.100,165.650,283.100,0.000,193.113,440.723,0.000,3.250,0.000,0.000,13.749,351.478,1303.209,557.007,360.501,865.394,33.333,780.570,0.000,329.390,0.000,9.852
$DEVICE_MAMPS,149.565,57.525,775.437,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.529,0.000,0.000,0.000,0.000,0.000,2950.550,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3322,187
$CFSIZE,260034560,243544064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,072715,4745.509,-12249.630,11,1.6,11,18.3