version: 66.02
glider: 23
mission: 2
dive: 492
start: 10 9 107 8 28 58
data:
$ID,23
$MISSION,2
$DIVE,492
$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,-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,-28788.555
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,082015,4745.103,-12249.859,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-62.1
$GPS2,082800,4745.059,-12249.868,11,2.4,30,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.165
$KALMAN_X,-2522.4,-66.3,73.5,2567.9,75.5
$KALMAN_Y,-5336.4,-459.9,-111.6,4897.7,20.4
$MHEAD_RNG_PITCHd_Wd,324.0,83,-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,-76.9,0.0,0.0,0,182,0.00,0.00,-150.02,0.000,2,0.000,0.000,370,2081,3666
$GC,186,-1.78,-107.5,2.1,-3.1,25,210,10.45,0.00,-7.50,0.000,6,0.153,0.000,2217,2083,3924
$GC,276,-1.78,-107.5,15.4,-14.5,39,282,0.00,2.50,0.00,0.000,4,0.000,0.048,2218,3513,3925
$GC,533,-1.78,-107.5,52.4,-14.1,61,539,0.00,2.42,0.00,0.000,6,0.000,0.035,2217,2091,3925
$GC,729,-1.78,-107.5,78.8,-13.0,77,734,0.00,2.50,0.00,0.000,4,0.000,0.050,2217,3517,3925
$STATE,812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,812,begin apogee
$GC,824,-0.31,0.0,90.2,13.0,83,914,1.60,0.00,82.62,0.727,6,0.112,0.000,2536,1885,3484
$STATE,935,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,939,1.78,107.5,93.6,0.0,91,1028,2.12,2.92,80.93,0.722,4,0.063,0.057,3000,478,3045
$GC,1084,1.78,107.5,76.3,18.3,102,1089,0.00,2.72,0.00,0.000,6,0.000,0.028,2999,1889,3046
$GC,1281,1.78,107.5,42.2,16.0,117,1285,0.00,2.58,0.00,0.000,4,0.000,0.044,2999,3309,3046
$STATE,1509,end climb,SURFACE_DEPTH_REACHED
$STATE,1509,begin surface coast
$FINISH,0.2,1.021945
$STATE,1550,end surface coast,CONTROL_FINISHED_OK
$STATE,1550,begin surface
$SM_CCo,1588,160.95,0.630,0,0,1649,450.13
$SM_GC,0.76,0.00,0.00,160.95,0.000,0.000,0.630,364,2082,1649,-10.33,-0.51,450.13
$IRIDIUM_FIX,4726.11,-12255.26,091007,111156
$TT8_MAMPS,0.04602
$HUMID,2086
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,75.5,7.3
$24V_AH,24.0,41.016
$10V_AH,10.0,14.370
$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,26.200,20.750,163.550,160.950,0.000,38.387,30.347,218.939,1.250,0.000,0.000,32.766,256.545,705.605,461.378,330.287,464.713,33.322,668.300,0.000,301.097,0.000,5.502
$DEVICE_MAMPS,152.633,56.758,727.116,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,96.246,0.000,0.000,0.000,0.000,0.000,2102.580,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3313,147
$CFSIZE,260034560,244539392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,085923,4745.171,-12249.896,9,2.6,28,18.3