version: 66.02
glider: 23
mission: 2
dive: 541
start: 10 11 107 5 39 56
data:
$ID,23
$MISSION,2
$DIVE,541
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,-28925.279
$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,2140
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,25
$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,720
$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
$GPS1,052238,4743.079,-12250.797,12,1.4,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-55.4
$GPS2,053831,4743.076,-12250.804,43,1.2,43,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.214,-0.007
$KALMAN_X,-1756.1,-198.5,-41.2,887.2,1.6
$KALMAN_Y,-302.0,-308.0,-114.9,-3959.3,-49.1
$MHEAD_RNG_PITCHd_Wd,249.8,52,-21.2,-10.000
$D_GRID,164
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.45,-117.3,0.0,0.0,0,170,0.00,0.00,-139.68,0.000,2,0.000,0.000,367,2132,3461
$GC,175,-1.45,-117.3,2.1,-6.7,23,211,10.77,3.00,-15.55,0.000,4,0.150,0.057,2290,723,3963
$GC,258,-1.45,-117.3,11.5,-14.9,36,264,0.00,2.88,0.00,0.000,6,0.000,0.031,2290,2141,3966
$GC,337,-1.45,-117.3,21.8,-12.1,47,341,0.00,2.45,0.00,0.000,4,0.000,0.049,2290,3556,3966
$GC,595,-1.45,-117.3,52.0,-12.2,66,599,0.00,2.40,0.00,0.000,6,0.000,0.035,2290,2138,3967
$GC,799,-1.45,-117.3,75.3,-11.4,82,803,0.00,2.47,0.00,0.000,4,0.000,0.050,2290,3561,3966
$GC,904,-1.45,-117.3,87.6,-11.9,89,910,0.00,2.40,0.00,0.000,6,0.000,0.035,2290,2137,3967
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,942,-0.31,0.0,91.1,11.1,92,1036,1.23,0.00,89.62,0.741,6,0.100,0.000,2535,1876,3484
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1041,1.45,117.3,93.8,0.0,100,1134,1.80,0.00,88.60,0.729,6,0.067,0.000,2922,1876,3005
$GC,1321,1.45,117.3,61.9,13.7,123,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1876,3005
$GC,1514,1.45,117.3,36.8,13.2,138,1518,0.00,2.60,0.00,0.000,4,0.000,0.043,2922,3299,3005
$GC,1642,1.45,117.3,19.8,13.0,147,1649,0.00,2.58,0.00,0.000,6,0.000,0.040,2922,1891,3005
$GC,1716,1.45,117.3,10.7,10.3,158,1722,0.00,2.60,0.00,0.000,4,0.000,0.044,2923,3310,3006
$GC,1769,1.47,134.6,5.6,9.0,166,1783,0.00,2.58,8.38,0.712,2,0.000,0.036,2923,1885,2957
$STATE,1784,end climb,SURFACE_DEPTH_REACHED
$STATE,1784,begin surface coast
$FINISH,0.2,1.017387
$STATE,1845,end surface coast,CONTROL_FINISHED_OK
$STATE,1845,begin surface
$SM_CCo,1869,273.77,0.626,0,0,600,707.45
$SM_GC,0.72,0.00,0.00,273.77,0.000,0.000,0.626,364,2156,600,-10.33,0.48,707.45
$IRIDIUM_FIX,4722.92,-12253.53,111007,090922
$TT8_MAMPS,0.026845
$HUMID,2064
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,24.0,46.363
$10V_AH,10.2,16.381
$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,25.325,27.025,186.600,273.775,0.000,194.961,375.841,0.000,2.000,0.000,0.000,45.180,341.620,1095.559,603.020,369.588,732.859,33.323,829.813,0.000,332.118,0.000,10.230
$DEVICE_MAMPS,150.332,56.758,740.922,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,3307,177
$CFSIZE,260034560,242843648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,061701,4743.043,-12251.100,30,1.4,35,18.3