version: 66.02
glider: 23
mission: 2
dive: 451
start: 10 8 107 1 14 43
data:
$ID,23
$MISSION,2
$DIVE,451
$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,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,-28624.691
$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,17
$R_STBD_OVSHOOT,45
$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
$GPS1,005831,4745.336,-12249.896,43,1.3,49,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.8
$GPS2,011344,4745.315,-12249.932,11,1.3,11,18.3
$SPEED_LIMITS,0.115,0.182
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.166
$KALMAN_X,-140.7,-56.0,-53.1,223.9,-63.6
$KALMAN_Y,186.0,110.5,116.9,-948.8,40.7
$MHEAD_RNG_PITCHd_Wd,137.4,449,-14.7,-6.667
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.04,-107.5,0.0,0.0,0,123,0.00,0.00,-95.75,0.000,2,0.000,0.000,366,2125,3556
$GC,129,-1.04,-107.5,2.2,-3.8,16,160,11.23,3.05,-11.25,0.000,4,0.148,0.059,2376,682,3924
$GC,239,-1.04,-107.5,12.8,-10.2,33,245,0.00,2.85,0.00,0.000,6,0.000,0.030,2377,2090,3924
$GC,311,-1.04,-107.5,19.5,-9.4,44,318,0.00,2.97,0.00,0.000,4,0.000,0.049,2377,675,3924
$GC,357,-1.04,-107.5,23.4,-8.2,48,363,0.00,2.90,0.00,0.000,6,0.000,0.031,2377,2104,3924
$GC,553,-1.04,-107.5,37.3,-7.1,64,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2104,3924
$GC,749,-1.04,-107.5,50.7,-7.1,79,754,0.00,3.00,0.00,0.000,4,0.000,0.049,2377,674,3925
$GC,787,-1.04,-107.5,54.1,-7.4,81,794,0.00,2.90,0.00,0.000,6,0.000,0.031,2377,2107,3925
$GC,984,-1.04,-107.5,67.7,-6.7,97,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2107,3925
$GC,1177,-1.04,-107.5,80.6,-6.7,112,1181,0.00,3.00,0.00,0.000,4,0.000,0.049,2377,675,3925
$GC,1202,-1.04,-107.5,82.6,-6.9,113,1209,0.00,2.90,0.00,0.000,6,0.000,0.031,2377,2110,3924
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1314,-0.31,0.0,90.2,7.0,122,1401,0.80,0.00,82.82,0.744,6,0.087,0.000,2539,1875,3484
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1405,1.04,107.5,92.1,0.0,129,1490,1.38,0.00,81.30,0.729,6,0.064,0.000,2833,1875,3045
$GC,1674,1.04,107.5,73.6,8.4,151,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1875,3045
$GC,1866,1.04,107.5,57.5,8.3,166,1870,0.00,2.60,0.00,0.000,4,0.000,0.046,2833,3308,3045
$GC,1892,1.04,107.5,55.0,8.8,167,1898,0.00,2.53,0.00,0.000,6,0.000,0.038,2833,1898,3044
$GC,2088,1.04,107.5,38.9,8.0,183,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1899,3044
$GC,2279,1.04,107.5,24.0,7.5,198,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1899,3044
$GC,2472,1.09,158.0,12.2,4.6,223,2516,0.00,2.95,37.10,0.694,4,0.000,0.056,2833,471,2839
$GC,2575,1.09,158.0,5.9,7.2,239,2581,0.00,2.78,0.00,0.000,6,0.000,0.030,2833,1899,2838
$STATE,2585,end climb,SURFACE_DEPTH_REACHED
$STATE,2585,begin surface coast
$FINISH,0.2,1.000986
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2690,264.62,0.631,0,0,580,712.35
$SM_GC,0.73,0.00,0.00,264.62,0.000,0.000,0.631,366,2118,580,-10.32,0.51,712.35
$IRIDIUM_FIX,4729.30,-12245.46,081007,050518
$TT8_MAMPS,0.026845
$HUMID,2093
$TCM_TEMP,19.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,50.7,8.2
$24V_AH,24.0,37.091
$10V_AH,10.2,13.103
$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,24.550,35.325,201.225,264.625,0.000,195.961,375.841,0.000,4.250,0.000,0.000,12.914,453.609,1711.448,583.992,408.634,731.082,33.321,841.815,0.000,402.665,0.000,7.976
$DEVICE_MAMPS,148.031,59.059,743.990,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,253
$CFSIZE,260034560,245514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,020456,4745.026,-12249.795,7,1.5,12,18.3