version: 66.02
glider: 23
mission: 2
dive: 532
start: 10 10 107 21 58 51
data:
$ID,23
$MISSION,2
$DIVE,532
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,500
$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,-28894.312
$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,2140
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,37
$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,720
$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
$GPS1,214331,4743.622,-12250.697,39,1.6,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.9
$GPS2,215726,4743.629,-12250.760,17,2.0,17,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.005,-0.224
$KALMAN_X,-1280.1,-32.8,-39.9,297.8,-23.7
$KALMAN_Y,546.9,315.3,-24.1,-4499.3,-69.5
$MHEAD_RNG_PITCHd_Wd,162.9,1076,-20.1,-10.000
$D_GRID,167
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.38,-117.3,0.0,0.0,0,170,0.00,0.00,-137.70,0.000,2,0.000,0.000,368,2150,3380
$GC,175,-1.38,-117.3,2.0,-4.4,23,217,10.85,2.50,-21.83,0.000,4,0.148,0.061,2305,3549,3964
$GC,277,-1.38,-117.3,11.7,-14.4,39,283,0.00,2.40,0.00,0.000,6,0.000,0.036,2305,2144,3964
$GC,356,-1.38,-117.3,22.0,-12.8,50,361,0.00,2.97,0.00,0.000,4,0.000,0.051,2305,715,3964
$GC,381,-1.38,-117.3,25.4,-12.4,51,388,0.00,2.85,0.00,0.000,6,0.000,0.030,2305,2134,3965
$GC,578,-1.38,-117.3,46.8,-10.5,67,582,0.00,2.47,0.00,0.000,4,0.000,0.050,2305,3550,3965
$GC,664,-1.38,-117.3,56.2,-10.7,73,668,0.00,2.42,0.00,0.000,6,0.000,0.036,2305,2133,3965
$GC,861,-1.38,-117.3,77.1,-10.8,88,865,0.00,2.50,0.00,0.000,4,0.000,0.050,2305,3561,3966
$STATE,976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,976,begin apogee
$GC,987,-0.31,0.0,90.6,11.2,96,1081,1.15,0.00,91.00,0.739,6,0.097,0.000,2536,1884,3484
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1096,1.38,117.3,93.5,0.0,104,1189,1.73,0.00,88.25,0.734,6,0.065,0.000,2910,1884,3005
$GC,1376,1.38,117.3,63.8,12.6,127,1380,0.00,2.60,0.00,0.000,4,0.000,0.044,2910,3299,3005
$GC,1436,1.38,117.3,56.0,13.1,131,1440,0.00,2.60,0.00,0.000,6,0.000,0.039,2910,1883,3005
$GC,1633,1.38,117.3,31.3,12.3,146,1637,0.00,2.60,0.00,0.000,4,0.000,0.042,2910,3305,3004
$GC,1671,1.38,117.3,26.3,13.0,148,1677,0.00,2.60,0.00,0.000,6,0.000,0.039,2910,1887,3005
$GC,1875,1.40,135.1,5.6,9.1,175,1888,0.00,0.00,10.70,0.702,2,0.000,0.000,2909,1887,2943
$STATE,1889,end climb,SURFACE_DEPTH_REACHED
$STATE,1889,begin surface coast
$FINISH,0.3,1.001482
$STATE,1960,end surface coast,CONTROL_FINISHED_OK
$STATE,1960,begin surface
$SM_CCo,1997,172.88,0.634,0,0,1444,500.41
$SM_GC,0.89,0.00,0.00,172.88,0.000,0.000,0.634,364,2149,1444,-10.33,0.23,500.41
$IRIDIUM_FIX,4726.11,-12250.84,111007,010155
$TT8_MAMPS,0.04602
$HUMID,2042
$TCM_TEMP,19.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,75.6,7.6
$24V_AH,24.0,45.434
$10V_AH,10.0,16.129
$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,25.300,32.050,189.950,172.875,0.000,76.617,113.040,375.216,3.750,0.000,0.000,21.520,336.365,1029.924,512.689,361.170,795.279,33.329,741.213,0.000,334.578,0.000,11.080
$DEVICE_MAMPS,148.031,61.360,738.621,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.023,0.000,0.000,0.000,0.000,0.000,2807.290,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,3314,188
$CFSIZE,260034560,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,223603,4743.411,-12250.761,14,2.0,14,18.3