version: 66.02
glider: 23
mission: 2
dive: 450
start: 10 8 107 0 8 36
data:
$ID,23
$MISSION,2
$DIVE,450
$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,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,30
$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,-28635.961
$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,18
$R_STBD_OVSHOOT,28
$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,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
$GPS1,235550,4745.547,-12250.046,10,1.2,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.8
$GPS2,000739,4745.565,-12250.059,14,1.4,14,18.3
$SPEED_LIMITS,0.115,0.182
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.168
$KALMAN_X,-104.2,-56.7,-52.1,32.5,-83.3
$KALMAN_Y,192.2,113.8,108.3,-491.6,138.3
$MHEAD_RNG_PITCHd_Wd,138.9,938,-14.7,-6.667
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.04,-107.5,0.0,0.0,0,174,0.00,0.00,-145.93,0.000,2,0.000,0.000,363,2102,3569
$GC,178,-1.04,-107.5,2.2,-4.8,24,209,11.25,2.47,-10.82,0.000,4,0.148,0.062,2378,3502,3924
$GC,348,-1.04,-107.5,18.4,-9.6,50,355,0.00,2.40,0.00,0.000,6,0.000,0.035,2378,2085,3924
$GC,419,-1.04,-107.5,24.1,-8.4,57,423,0.00,2.92,0.00,0.000,4,0.000,0.051,2378,687,3924
$GC,493,-1.04,-107.5,29.4,-7.4,62,498,0.00,2.88,0.00,0.000,6,0.000,0.031,2378,2104,3924
$GC,689,-1.04,-107.5,43.1,-6.9,77,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2104,3925
$GC,882,-1.04,-107.5,56.3,-7.1,92,887,0.00,2.97,0.00,0.000,4,0.000,0.050,2378,685,3925
$GC,915,-1.04,-107.5,58.9,-7.3,94,920,0.00,2.88,0.00,0.000,6,0.000,0.031,2378,2107,3925
$GC,1111,-1.04,-107.5,72.6,-6.8,109,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2106,3925
$GC,1301,-1.04,-107.5,85.3,-6.6,124,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2106,3925
$STATE,1377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1385,-0.31,0.0,90.0,6.3,130,1470,0.75,0.00,81.82,0.739,6,0.086,0.000,2534,1885,3484
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1474,1.04,107.5,92.0,0.0,137,1563,1.40,2.67,80.97,0.726,4,0.064,0.046,2833,3305,3045
$GC,1585,1.04,107.5,85.7,8.0,146,1589,0.00,2.55,0.00,0.000,6,0.000,0.039,2833,1898,3045
$GC,1780,1.04,107.5,68.7,8.6,161,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3045
$GC,1974,1.04,107.5,52.9,8.2,176,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3045
$GC,2160,1.04,107.5,38.0,7.8,191,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3045
$GC,2350,1.04,107.5,23.3,7.6,206,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3045
$GC,2543,1.06,128.5,11.3,5.8,232,2568,0.00,2.97,15.05,0.706,4,0.000,0.057,2833,471,2960
$GC,2634,1.06,128.5,5.6,6.9,246,2641,0.00,2.78,0.00,0.000,6,0.000,0.030,2833,1896,2961
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2645,begin surface coast
$FINISH,0.2,1.010277
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2748,152.07,0.640,0,0,1649,450.13
$SM_GC,0.81,0.00,0.00,152.07,0.000,0.000,0.640,366,2125,1649,-10.32,0.71,450.13
$IRIDIUM_FIX,4729.30,-12249.89,081007,040444
$TT8_MAMPS,0.026845
$HUMID,2113
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.0,7.4
$24V_AH,24.0,36.980
$10V_AH,10.2,13.074
$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,24.525,28.375,177.850,152.075,0.000,122.632,208.454,158.413,2.250,0.000,0.000,16.213,463.201,1615.401,467.521,435.253,651.092,32.328,745.284,0.000,423.656,0.000,9.995
$DEVICE_MAMPS,148.031,62.127,738.621,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,260
$CFSIZE,260034560,245542912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,005831,4745.336,-12249.896,43,1.3,49,18.3