version: 66.02
glider: 23
mission: 2
dive: 477
start: 10 8 107 20 52 1
data:
$ID,23
$MISSION,2
$DIVE,477
$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,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,-28735.264
$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,26
$R_STBD_OVSHOOT,12
$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,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
$GPS1,203435,4745.115,-12249.814,12,2.4,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.5
$GPS2,205103,4745.048,-12249.886,14,1.2,32,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.098
$KALMAN_X,-2077.1,43.0,103.7,1962.4,-50.6
$KALMAN_Y,-2703.3,-223.8,-8.0,1906.6,-28.9
$MHEAD_RNG_PITCHd_Wd,37.4,112,-26.6,-10.000
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.75,-76.9,0.0,0.0,0,121,0.00,0.00,-90.20,0.000,2,0.000,0.000,366,2072,3458
$GC,125,-1.78,-107.5,2.1,-4.3,15,157,10.40,2.95,-15.55,0.000,4,0.150,0.055,2219,686,3924
$GC,177,-1.78,-107.5,6.3,-10.6,23,183,0.00,2.90,0.00,0.000,6,0.000,0.030,2219,2129,3925
$GC,250,-1.78,-107.5,17.7,-14.6,34,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2131,3924
$GC,319,-1.78,-107.5,27.1,-13.3,41,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2130,3925
$GC,511,-1.78,-107.5,51.4,-12.6,56,515,0.00,2.40,0.00,0.000,4,0.000,0.049,2219,3506,3924
$GC,769,-1.78,-107.5,88.0,-14.1,75,773,0.00,2.40,0.00,0.000,6,0.000,0.036,2219,2093,3925
$STATE,785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,785,begin apogee
$GC,792,-0.31,0.0,90.6,13.9,76,883,1.60,0.00,82.97,0.733,6,0.110,0.000,2533,1883,3484
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,896,1.78,107.5,93.8,0.0,84,986,2.15,2.92,81.28,0.725,4,0.063,0.056,2999,474,3045
$GC,1040,1.78,107.5,76.8,18.1,95,1044,0.00,2.75,0.00,0.000,6,0.000,0.028,2999,1892,3045
$GC,1236,1.78,107.5,43.4,16.5,110,1240,0.00,2.55,0.00,0.000,4,0.000,0.044,2999,3302,3044
$STATE,1477,end climb,SURFACE_DEPTH_REACHED
$STATE,1477,begin surface coast
$FINISH,0.3,1.022207
$STATE,1517,end surface coast,CONTROL_FINISHED_OK
$STATE,1518,begin surface
$SM_CCo,1549,286.33,0.618,0,0,580,712.35
$SM_GC,0.77,0.00,0.00,286.33,0.000,0.000,0.618,364,2080,580,-10.33,-0.57,712.35
$IRIDIUM_FIX,4729.30,-12245.46,091007,000008
$TT8_MAMPS,0.04602
$HUMID,2064
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.8,8.1
$24V_AH,24.0,39.536
$10V_AH,10.0,13.750
$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,26.025,21.450,164.250,286.325,0.000,202.549,375.843,0.000,1.000,0.000,0.000,33.682,264.390,967.256,547.112,317.456,731.553,33.321,743.370,0.000,288.700,0.000,5.505
$DEVICE_MAMPS,150.332,55.991,733.252,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,93.114,0.000,0.000,0.000,0.000,0.000,2425.990,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3323,141
$CFSIZE,260034560,244953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,212332,4745.081,-12249.747,9,1.3,9,18.3