version: 66.02
glider: 23
mission: 2
dive: 478
start: 10 8 107 21 42 46
data:
$ID,23
$MISSION,2
$DIVE,478
$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,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,-28732.244
$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,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,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
$GPS1,212332,4745.081,-12249.747,9,1.3,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-58.6
$GPS2,214145,4744.997,-12249.833,14,1.8,14,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,0.162
$KALMAN_X,-2203.6,51.2,53.1,2199.5,-82.5
$KALMAN_Y,-2944.3,-202.2,-23.5,2046.4,-111.1
$MHEAD_RNG_PITCHd_Wd,2.3,167,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.75,-76.9,0.0,0.0,0,174,0.00,0.00,-143.48,0.000,2,0.000,0.000,364,2080,3514
$GC,179,-1.78,-107.5,2.2,-5.0,24,208,10.40,0.00,-12.93,0.000,6,0.150,0.000,2217,2081,3924
$GC,275,-1.78,-107.5,14.0,-15.2,39,281,0.00,2.47,0.00,0.000,4,0.000,0.046,2217,3505,3924
$GC,294,-1.78,-107.5,16.8,-14.4,42,300,0.00,2.40,0.00,0.000,6,0.000,0.034,2217,2099,3924
$GC,371,-1.78,-107.5,26.9,-12.9,50,375,0.00,2.47,0.00,0.000,4,0.000,0.049,2217,3514,3924
$GC,578,-1.78,-107.5,54.6,-13.7,65,582,0.00,2.42,0.00,0.000,6,0.000,0.035,2217,2089,3925
$GC,774,-1.78,-107.5,81.0,-13.4,80,778,0.00,2.47,0.00,0.000,4,0.000,0.050,2217,3505,3926
$STATE,835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,836,begin apogee
$GC,846,-0.31,0.0,90.4,14.6,84,936,1.60,0.00,81.68,0.737,6,0.111,0.000,2536,1885,3484
$STATE,939,end apogee,CONTROL_FINISHED_OK
$STATE,939,begin climb
$GC,942,1.78,107.5,94.0,0.0,92,1031,2.12,2.92,80.72,0.731,4,0.064,0.057,2995,480,3045
$GC,1073,1.78,107.5,79.7,17.3,102,1079,0.00,2.75,0.00,0.000,6,0.000,0.028,2995,1894,3045
$GC,1268,1.78,107.5,46.3,16.9,118,1273,0.00,2.55,0.00,0.000,4,0.000,0.044,2995,3305,3046
$GC,1526,1.78,107.5,5.5,12.5,144,1532,0.00,2.55,0.00,0.000,6,0.000,0.037,2995,1891,3045
$STATE,1537,end climb,SURFACE_DEPTH_REACHED
$STATE,1537,begin surface coast
$FINISH,0.2,1.002133
$STATE,1584,end surface coast,CONTROL_FINISHED_OK
$STATE,1584,begin surface
$SM_CCo,1614,160.52,0.634,0,0,1648,450.13
$SM_GC,0.81,0.00,0.00,160.52,0.000,0.000,0.634,363,2122,1648,-10.34,0.59,450.13
$IRIDIUM_FIX,4729.30,-12252.58,091007,010112
$TT8_MAMPS,0.04602
$HUMID,2050
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.1,8.2
$24V_AH,24.0,39.649
$10V_AH,10.0,13.796
$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,26.050,26.375,162.400,160.525,0.000,81.241,80.719,708.481,1.000,0.000,0.000,16.085,270.519,786.565,462.816,320.965,1033.974,33.330,679.333,0.000,307.639,0.000,5.380
$DEVICE_MAMPS,149.565,56.758,737.087,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.171,0.000,0.000,0.000,0.000,0.000,2665.480,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3325,153
$CFSIZE,260034560,244932608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,221337,4745.110,-12249.802,30,1.6,30,18.3