version: 66.02
glider: 23
mission: 2
dive: 521
start: 10 10 107 12 23 44
data:
$ID,23
$MISSION,2
$DIVE,521
$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,-28782.568
$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,19
$R_STBD_OVSHOOT,35
$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
$GPS1,120708,4745.527,-12249.800,35,2.0,36,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-67.8
$GPS2,122226,4745.672,-12249.779,10,1.6,15,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.075,-0.211
$KALMAN_X,-1023.0,234.3,34.0,915.2,-17.1
$KALMAN_Y,-736.5,795.4,312.6,-256.6,-19.5
$MHEAD_RNG_PITCHd_Wd,181.3,2093,-20.1,-10.000
$D_GRID,172
$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,-107.5,0.0,0.0,0,126,0.00,0.00,-96.22,0.000,2,0.000,0.000,367,2134,3539
$GC,132,-1.37,-107.5,2.1,-4.9,16,163,10.93,2.42,-11.35,0.000,4,0.152,0.059,2307,3496,3923
$GC,414,-1.37,-107.5,33.7,-10.4,50,421,0.00,2.42,0.00,0.000,6,0.000,0.035,2307,2082,3925
$GC,611,-1.37,-107.5,53.4,-10.6,66,615,0.00,2.50,0.00,0.000,4,0.000,0.048,2307,3499,3924
$GC,808,-1.37,-107.5,74.0,-10.1,80,814,0.00,2.40,0.00,0.000,6,0.000,0.035,2307,2094,3925
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,988,-0.31,0.0,90.0,9.6,94,1079,1.12,0.00,82.90,0.747,6,0.095,0.000,2535,1884,3484
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1083,1.37,107.5,92.8,0.0,102,1172,1.73,2.95,80.68,0.732,4,0.064,0.057,2904,478,3045
$GC,1207,1.37,107.5,82.5,12.5,112,1211,0.00,2.72,0.00,0.000,6,0.000,0.028,2904,1880,3044
$GC,1403,1.37,107.5,57.8,12.2,127,1407,0.00,2.62,0.00,0.000,4,0.000,0.045,2904,3315,3044
$GC,1504,1.37,107.5,45.7,11.8,134,1509,0.00,2.60,0.00,0.000,6,0.000,0.039,2904,1890,3044
$GC,1701,1.37,107.5,22.4,11.6,149,1705,0.00,2.60,0.00,0.000,4,0.000,0.044,2904,3307,3044
$GC,1721,1.37,107.5,20.1,11.7,150,1725,0.00,2.60,0.00,0.000,6,0.000,0.040,2904,1888,3044
$STATE,1863,end climb,SURFACE_DEPTH_REACHED
$STATE,1863,begin surface coast
$FINISH,0.2,1.011374
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1975,284.62,0.629,0,0,599,707.45
$SM_GC,0.55,0.00,0.00,284.62,0.000,0.000,0.629,363,2132,599,-10.33,0.93,707.45
$IRIDIUM_FIX,4729.30,-12245.46,101007,161650
$TT8_MAMPS,0.026845
$HUMID,2083
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,75.9,999.0
$24V_AH,24.0,44.279
$10V_AH,10.2,15.690
$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,25.200,26.750,163.575,284.625,0.000,190.872,375.844,0.000,2.500,0.000,0.000,17.227,369.390,1213.211,548.974,362.883,722.390,33.330,777.214,0.000,353.790,0.000,7.059
$DEVICE_MAMPS,151.866,59.059,747.058,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3308,184
$CFSIZE,260034560,243388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,130237,4745.531,-12249.850,26,1.2,26,18.3