version: 66.02
glider: 23
mission: 2
dive: 501
start: 10 9 107 15 24 33
data:
$ID,23
$MISSION,2
$DIVE,501
$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,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,-28872.863
$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,25
$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
$GPS1,150703,4745.169,-12249.763,11,2.0,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-68.6
$GPS2,152335,4745.141,-12249.740,13,2.2,32,18.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,-0.150
$KALMAN_X,-1957.3,110.5,40.6,2017.5,49.4
$KALMAN_Y,-5611.5,-240.7,31.4,4954.1,149.9
$MHEAD_RNG_PITCHd_Wd,191.5,139,-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,-76.9,0.0,0.0,0,133,0.00,0.00,-101.65,0.000,2,0.000,0.000,364,2079,3653
$GC,137,-1.78,-107.5,2.1,-3.2,17,162,10.45,2.53,-8.02,0.000,4,0.152,0.060,2218,3520,3923
$GC,415,-1.78,-107.5,41.6,-13.8,48,419,0.00,2.42,0.00,0.000,6,0.000,0.035,2218,2093,3924
$GC,610,-1.78,-107.5,67.7,-13.5,63,615,0.00,2.50,0.00,0.000,4,0.000,0.049,2218,3521,3924
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,770,begin apogee
$GC,781,-0.31,0.0,90.0,13.6,74,871,1.60,0.00,83.15,0.733,6,0.112,0.000,2536,1886,3483
$STATE,874,end apogee,CONTROL_FINISHED_OK
$STATE,874,begin climb
$GC,877,1.78,107.5,93.7,0.0,82,968,2.15,2.92,81.00,0.725,4,0.064,0.056,3000,480,3045
$GC,1119,1.78,107.5,57.8,18.6,100,1126,0.00,2.72,0.00,0.000,6,0.000,0.028,3000,1892,3045
$GC,1316,1.78,107.5,24.8,16.6,116,1320,0.00,2.58,0.00,0.000,4,0.000,0.044,3001,3313,3045
$STATE,1445,end climb,SURFACE_DEPTH_REACHED
$STATE,1445,begin surface coast
$FINISH,0.1,1.022078
$STATE,1495,end surface coast,CONTROL_FINISHED_OK
$STATE,1496,begin surface
$SM_CCo,1527,293.80,0.619,1,0,580,712.35
$SM_GC,0.52,0.00,0.00,293.80,0.000,0.000,0.619,364,2077,580,-10.33,-0.65,712.35
$IRIDIUM_FIX,4729.30,-12252.58,091007,191931
$TT8_MAMPS,0.04602
$HUMID,2045
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,24.0,41.891
$10V_AH,10.0,14.740
$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,26.325,20.775,164.150,293.800,0.000,200.540,375.842,0.000,1.000,0.000,0.000,34.567,258.981,953.882,560.895,320.886,727.110,33.327,753.528,0.000,290.616,0.000,7.059
$DEVICE_MAMPS,151.866,59.826,733.252,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,92.420,0.000,0.000,0.000,0.000,0.000,2393.430,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3303,140
$CFSIZE,260034560,244264960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091007,155627,4745.170,-12249.786,28,2.0,40,18.3