version: 66.02
glider: 23
mission: 2
dive: 510
start: 10 10 107 1 0 32
data:
$ID,23
$MISSION,2
$DIVE,510
$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,-28836.77
$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,20
$R_STBD_OVSHOOT,45
$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
$GPS1,003107,4745.113,-12249.729,29,1.7,29,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-52.5
$GPS2,005914,4745.302,-12249.652,10,1.6,15,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.165
$KALMAN_X,-2107.7,-16.4,-257.2,2698.5,186.7
$KALMAN_Y,-4242.9,401.5,-20.2,3291.2,32.1
$MHEAD_RNG_PITCHd_Wd,203.8,449,-21.2,-10.370
$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,-1.44,-107.5,0.0,0.0,0,176,0.00,0.00,-143.85,0.000,2,0.000,0.000,365,2133,3424
$GC,180,-1.44,-107.5,2.0,-4.8,24,217,10.75,3.05,-16.15,0.000,4,0.148,0.054,2292,682,3924
$GC,238,-1.44,-107.5,6.8,-10.4,33,244,0.00,2.85,0.00,0.000,6,0.000,0.031,2292,2092,3923
$GC,310,-1.44,-107.5,15.3,-11.0,44,316,0.00,2.50,0.00,0.000,4,0.000,0.049,2292,3518,3924
$GC,377,-1.44,-107.5,22.7,-10.9,53,381,0.00,2.45,0.00,0.000,6,0.000,0.034,2292,2079,3924
$GC,573,-1.44,-107.5,43.8,-10.6,68,577,0.00,2.53,0.00,0.000,4,0.000,0.050,2292,3513,3925
$GC,645,-1.44,-107.5,52.3,-11.7,73,650,0.00,2.42,0.00,0.000,6,0.000,0.035,2292,2097,3925
$GC,842,-1.44,-107.5,73.1,-10.6,88,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2098,3925
$GC,1031,-1.44,-107.5,93.5,-10.7,103,1035,0.00,2.50,0.00,0.000,4,0.000,0.051,2292,3517,3925
$GC,1228,-1.44,-107.5,115.4,-11.2,117,1234,0.00,2.42,0.00,0.000,6,0.000,0.037,2292,2092,3926
$GC,1424,-1.44,-107.5,135.5,-10.4,133,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2092,3926
$STATE,1472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1472,begin apogee
$GC,1480,-0.31,0.0,140.6,10.1,137,1571,1.20,0.00,83.70,0.783,6,0.097,0.000,2534,1883,3484
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1577,1.44,107.5,143.2,0.0,145,1667,1.80,0.00,81.38,0.775,6,0.064,0.000,2925,1884,3045
$GC,1857,1.44,107.5,112.2,13.1,168,1861,0.00,2.60,0.00,0.000,4,0.000,0.046,2925,3301,3044
$GC,1956,1.44,107.5,98.9,13.4,175,1961,0.00,2.58,0.00,0.000,6,0.000,0.040,2925,1895,3045
$GC,2153,1.44,107.5,73.7,12.4,190,2157,0.00,2.60,0.00,0.000,4,0.000,0.045,2925,3312,3045
$GC,2245,1.44,107.5,61.5,12.7,196,2251,0.00,2.60,0.00,0.000,6,0.000,0.046,2925,1890,3045
$GC,2441,1.44,107.5,37.0,12.4,212,2445,0.00,2.58,0.00,0.000,4,0.000,0.045,2925,3302,3045
$GC,2494,1.44,107.5,30.4,12.5,215,2499,0.00,2.58,0.00,0.000,6,0.000,0.039,2925,1884,3044
$GC,2694,1.44,107.5,6.3,11.2,239,2700,0.00,2.60,0.00,0.000,4,0.000,0.048,2925,3299,3045
$STATE,2704,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.9,1.022124
$STATE,2752,end surface coast,CONTROL_FINISHED_OK
$STATE,2752,begin surface
$SM_CCo,2791,287.73,0.635,0,0,579,712.35
$SM_GC,0.57,0.00,0.00,287.73,0.000,0.000,0.635,367,2070,579,-10.32,-0.82,712.35
$IRIDIUM_FIX,4729.30,-12336.07,101007,040403
$TT8_MAMPS,0.045253
$HUMID,2051
$TCM_TEMP,19.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,110.3,7.4
$24V_AH,23.9,43.019
$10V_AH,10.0,15.238
$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,25.275,41.450,165.075,287.725,0.000,184.544,364.437,625.441,3.500,0.000,0.000,16.711,438.222,1787.624,622.260,487.259,1452.846,33.335,905.634,0.000,443.830,0.000,12.765
$DEVICE_MAMPS,148.031,54.457,783.107,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.306,0.000,0.000,0.000,0.000,0.000,4208.050,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,6440,248
$CFSIZE,260034560,243875840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,015307,4745.081,-12249.891,29,1.2,29,18.3