version: 66.02
glider: 23
mission: 2
dive: 516
start: 10 10 107 7 56 47
data:
$ID,23
$MISSION,2
$DIVE,516
$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,450
$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,-28780.27
$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,24
$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,0
$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
$GPS1,072715,4745.509,-12249.630,11,1.6,11,18.3
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-53.5
$GPS2,075532,4745.746,-12249.566,9,2.0,14,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.104,-0.199
$KALMAN_X,-1399.6,103.1,281.5,1442.8,51.3
$KALMAN_Y,-2138.4,651.1,379.2,1358.9,80.3
$MHEAD_RNG_PITCHd_Wd,189.2,2324,-20.1,-10.000
$D_GRID,171
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,29,-1.37,-107.5,0.0,0.0,0,183,0.00,0.00,-150.77,0.000,2,0.000,0.000,363,2072,3581
$GC,187,-1.37,-107.5,2.3,-5.6,25,212,10.85,0.00,-10.10,0.000,6,0.148,0.000,2305,2074,3923
$GC,282,-1.37,-107.5,12.4,-12.7,39,288,0.00,2.53,0.00,0.000,4,0.000,0.048,2306,3514,3924
$GC,302,-1.37,-107.5,15.3,-12.9,42,308,0.00,2.42,0.00,0.000,6,0.000,0.034,2305,2099,3924
$GC,374,-1.37,-107.5,22.6,-9.6,51,378,0.00,2.92,0.00,0.000,4,0.000,0.051,2305,690,3924
$GC,400,-1.37,-107.5,25.5,-10.9,52,406,0.00,2.85,0.00,0.000,6,0.000,0.031,2305,2108,3924
$GC,596,-1.37,-107.5,45.3,-10.4,68,600,0.00,2.45,0.00,0.000,4,0.000,0.051,2305,3514,3925
$GC,669,-1.37,-107.5,52.9,-10.4,73,673,0.00,2.42,0.00,0.000,6,0.000,0.035,2305,2095,3925
$GC,865,-1.37,-107.5,72.4,-10.0,88,870,0.00,2.50,0.00,0.000,4,0.000,0.051,2305,3515,3925
$GC,954,-1.37,-107.5,81.5,-10.3,94,958,0.00,2.42,0.00,0.000,6,0.000,0.036,2305,2097,3925
$STATE,1046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1046,begin apogee
$GC,1054,-0.31,0.0,90.7,9.5,101,1145,1.15,0.00,83.12,0.746,6,0.094,0.000,2537,1888,3484
$STATE,1146,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1150,1.37,107.5,93.2,0.0,109,1235,1.73,0.00,81.10,0.730,6,0.065,0.000,2905,1889,3045
$GC,1425,1.37,107.5,65.0,12.5,131,1430,0.00,2.60,0.00,0.000,4,0.000,0.045,2905,3302,3044
$GC,1477,1.37,107.5,58.4,12.4,134,1484,0.00,2.58,0.00,0.000,6,0.000,0.040,2905,1895,3044
$GC,1674,1.37,107.5,35.5,11.8,150,1678,0.00,2.60,0.00,0.000,4,0.000,0.045,2905,3312,3044
$GC,1708,1.37,107.5,31.6,12.0,152,1712,0.00,2.60,0.00,0.000,6,0.000,0.040,2905,1891,3045
$GC,1909,1.37,107.5,8.2,11.1,174,1915,0.00,2.60,0.00,0.000,4,0.000,0.047,2905,3304,3045
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1939,begin surface coast
$FINISH,0.3,1.022410
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1989,begin surface
$SM_CCo,2015,161.02,0.637,0,0,1647,450.13
$SM_GC,0.74,0.00,0.00,161.02,0.000,0.000,0.637,363,2076,1647,-10.33,-0.68,450.13
$IRIDIUM_FIX,4729.30,-12248.15,101007,111134
$TT8_MAMPS,0.026845
$HUMID,2080
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,24.0,43.782
$10V_AH,10.2,15.562
$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,25.125,36.100,164.225,161.025,0.000,156.714,192.282,904.858,1.250,0.000,0.000,16.406,365.350,1161.152,477.005,368.255,1521.753,33.332,713.984,0.000,332.028,0.000,7.063
$DEVICE_MAMPS,148.031,51.389,746.291,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.856,0.000,0.000,0.000,0.000,0.000,1733.580,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3323,186
$CFSIZE,260034560,243490816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,083425,4745.628,-12249.655,34,1.7,34,18.3