version: 66.02
glider: 23
mission: 2
dive: 509
start: 10 9 107 23 39 18
data:
$ID,23
$MISSION,2
$DIVE,509
$D_SURF,5
$D_FLARE,2
$D_TGT,140
$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,25
$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,-28847.943
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,232001,4745.250,-12249.542,40,1.3,40,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.0
$GPS2,233733,4745.310,-12249.468,10,1.6,10,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.143
$KALMAN_X,-2379.8,46.8,-233.9,3111.6,-74.3
$KALMAN_Y,-4649.8,404.2,90.4,3603.7,-117.0
$MHEAD_RNG_PITCHd_Wd,211.7,600,-21.2,-10.370
$D_GRID,173
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.44,-107.5,0.0,0.0,0,129,0.00,0.00,-95.53,0.000,2,0.000,0.000,365,2124,3545
$GC,133,-1.44,-107.5,2.2,-4.7,16,164,10.77,3.03,-11.07,0.000,4,0.150,0.058,2292,688,3923
$GC,185,-1.44,-107.5,7.7,-11.6,24,191,0.00,2.83,0.00,0.000,6,0.000,0.030,2292,2097,3924
$GC,259,-1.44,-107.5,16.9,-11.5,35,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2098,3924
$GC,329,-1.44,-107.5,24.8,-10.9,43,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2098,3925
$GC,519,-1.44,-107.5,45.2,-10.8,58,523,0.00,2.47,0.00,0.000,4,0.000,0.050,2292,3509,3924
$GC,660,-1.44,-107.5,61.4,-11.5,68,664,0.00,2.45,0.00,0.000,6,0.000,0.035,2292,2078,3924
$GC,856,-1.44,-107.5,83.1,-11.3,83,860,0.00,2.53,0.00,0.000,4,0.000,0.051,2292,3517,3924
$GC,995,-1.44,-107.5,99.4,-12.0,93,999,0.00,2.42,0.00,0.000,6,0.000,0.036,2292,2096,3924
$GC,1191,-1.44,-107.5,120.5,-10.6,108,1195,0.00,2.50,0.00,0.000,4,0.000,0.053,2292,3516,3924
$GC,1291,-1.44,-107.5,131.6,-11.3,115,1295,0.00,2.42,0.00,0.000,6,0.000,0.038,2292,2095,3924
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1378,-0.31,0.0,140.1,10.1,121,1469,1.20,0.00,83.32,0.783,6,0.097,0.000,2534,1886,3484
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1482,1.44,107.5,142.5,0.0,129,1573,1.80,2.67,81.47,0.773,4,0.064,0.047,2925,3310,3044
$GC,1600,1.44,107.5,132.9,12.8,139,1605,0.00,2.60,0.00,0.000,6,0.000,0.041,2925,1900,3044
$GC,1796,1.44,107.5,107.8,12.7,154,1801,0.00,2.58,0.00,0.000,4,0.000,0.046,2925,3298,3045
$GC,1861,1.44,107.5,99.0,13.8,158,1868,0.00,2.60,0.00,0.000,6,0.000,0.040,2925,1878,3043
$GC,2058,1.44,107.5,74.0,13.0,174,2063,0.00,2.62,0.00,0.000,4,0.000,0.045,2925,3306,3043
$GC,2190,1.44,107.5,57.0,12.5,183,2196,0.00,2.60,0.00,0.000,6,0.000,0.041,2925,1880,3043
$GC,2388,1.44,107.5,33.2,12.1,199,2393,0.00,2.60,0.00,0.000,4,0.000,0.045,2925,3298,3042
$GC,2474,1.44,107.5,22.4,11.9,205,2478,0.00,2.58,0.00,0.000,6,0.000,0.040,2925,1886,3044
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,0.1,1.022091
$STATE,2696,end surface coast,CONTROL_FINISHED_OK
$STATE,2696,begin surface
$SM_CCo,2745,287.45,0.637,0,0,580,712.35
$SM_GC,0.60,0.00,0.00,287.45,0.000,0.000,0.637,365,2136,580,-10.32,1.02,712.35
$IRIDIUM_FIX,4726.11,-12248.15,101007,030301
$TT8_MAMPS,0.045253
$HUMID,2059
$TCM_TEMP,19.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,125.7,999.0
$24V_AH,23.9,42.871
$10V_AH,10.0,15.171
$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,25.275,42.400,164.800,287.450,0.000,194.880,375.843,0.000,3.500,0.000,0.000,12.441,452.075,1755.687,575.448,484.512,867.735,33.338,855.529,0.000,450.017,0.000,10.103
$DEVICE_MAMPS,149.565,58.292,783.107,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.255,0.000,0.000,0.000,0.000,0.000,3554.700,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,6426,236
$CFSIZE,260034560,243933184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,003107,4745.113,-12249.729,29,1.7,29,18.3