version: 66.02
glider: 23
mission: 2
dive: 517
start: 10 10 107 8 51 3
data:
$ID,23
$MISSION,2
$DIVE,517
$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,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,707.44519
$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,-28769.318
$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,29
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$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,0
$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
$GPS1,083425,4745.628,-12249.655,34,1.7,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-63.1
$GPS2,084945,4745.750,-12249.623,13,1.8,13,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.073,-0.212
$KALMAN_X,-1331.8,148.3,271.9,1269.2,-22.4
$KALMAN_Y,-1884.5,676.0,412.2,1057.5,42.1
$MHEAD_RNG_PITCHd_Wd,180.6,2300,-20.1,-10.000
$D_GRID,171
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.37,-107.5,0.0,0.0,0,125,0.00,0.00,-95.40,0.000,2,0.000,0.000,364,2076,3499
$GC,131,-1.37,-107.5,2.0,-4.8,16,163,10.90,2.90,-13.40,0.000,4,0.150,0.060,2306,694,3923
$GC,199,-1.37,-107.5,8.3,-11.8,26,206,0.00,2.83,0.00,0.000,6,0.000,0.029,2306,2106,3923
$GC,273,-1.37,-107.5,16.4,-9.3,37,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2108,3924
$GC,351,-1.37,-107.5,24.5,-10.1,46,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2109,3924
$GC,544,-1.37,-107.5,43.8,-10.3,61,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2109,3924
$GC,732,-1.37,-107.5,62.7,-9.9,76,736,0.00,2.45,0.00,0.000,4,0.000,0.051,2306,3505,3924
$GC,917,-1.37,-107.5,82.4,-10.1,89,923,0.00,2.40,0.00,0.000,6,0.000,0.035,2306,2099,3924
$STATE,997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,997,begin apogee
$GC,1005,-0.31,0.0,90.4,9.7,96,1095,1.12,0.00,82.90,0.743,6,0.095,0.000,2533,1877,3484
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1100,1.37,107.5,92.8,0.0,104,1185,1.75,0.00,80.90,0.735,6,0.066,0.000,2906,1876,3045
$GC,1375,1.37,107.5,64.9,12.2,126,1379,0.00,2.62,0.00,0.000,4,0.000,0.044,2905,3308,3044
$GC,1427,1.37,107.5,58.2,12.4,129,1434,0.00,2.58,0.00,0.000,6,0.000,0.040,2905,1898,3043
$GC,1623,1.37,107.5,35.4,11.6,145,1628,0.00,2.55,0.00,0.000,4,0.000,0.044,2905,3295,3043
$GC,1670,1.37,107.5,29.9,11.8,148,1675,0.00,2.58,0.00,0.000,6,0.000,0.040,2905,1882,3044
$GC,1872,1.38,117.3,7.8,9.5,171,1885,0.00,2.62,7.22,0.731,4,0.000,0.044,2905,3301,3004
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,0.1,1.022431
$STATE,1949,end surface coast,CONTROL_FINISHED_OK
$STATE,1949,begin surface
$SM_CCo,1975,279.23,0.627,0,0,599,707.69
$SM_GC,0.70,0.00,0.00,279.23,0.000,0.000,0.627,362,2082,599,-10.35,-0.51,707.69
$IRIDIUM_FIX,4729.30,-12252.58,101007,121205
$TT8_MAMPS,0.026845
$HUMID,2072
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,24.0,43.889
$10V_AH,10.2,15.588
$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,25.300,26.150,171.025,279.225,0.000,193.564,375.845,0.000,2.000,0.000,0.000,15.132,367.582,1229.177,556.788,334.895,725.168,33.337,779.356,0.000,328.833,0.000,9.591
$DEVICE_MAMPS,150.332,59.826,743.223,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3295,183
$CFSIZE,260034560,243478528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,092956,4745.625,-12249.687,31,1.8,31,18.3