version: 66.02
glider: 23
mission: 2
dive: 549
start: 10 11 107 13 15 44
data:
$ID,23
$MISSION,2
$DIVE,549
$D_SURF,5
$D_FLARE,5
$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,45
$T_MISSION,75
$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,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,2
$CALL_WAIT,20
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28889.293
$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,32
$R_STBD_OVSHOOT,31
$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,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
$GPS1,130826,4741.507,-12252.026,29,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.8
$GPS2,131437,4741.494,-12252.018,14,1.7,24,18.3
$SPEED_LIMITS,0.143,0.189
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.066,-0.177
$KALMAN_X,-1837.2,11.2,15.2,-811.7,-9.5
$KALMAN_Y,-348.9,-81.3,97.5,-7280.3,-3.0
$MHEAD_RNG_PITCHd_Wd,182.3,4035,-13.9,-6.667
$D_GRID,126
$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,-0.99,-117.3,0.0,0.0,0,146,0.00,0.00,-108.12,0.000,6,0.000,0.000,367,2147,3964
$GC,150,-0.99,-117.3,4.1,-5.6,19,168,11.38,2.38,0.00,0.000,4,0.150,0.043,2389,3547,3967
$GC,422,-0.99,-117.3,35.7,-8.0,45,428,0.00,2.33,0.00,0.000,6,0.000,0.035,2390,2153,3969
$GC,620,-0.99,-117.3,49.2,-6.4,61,624,0.00,2.40,0.00,0.000,4,0.000,0.051,2389,3546,3969
$GC,667,-0.99,-117.3,52.6,-7.7,64,671,0.00,2.38,0.00,0.000,6,0.000,0.034,2390,2137,3969
$GC,864,-0.99,-117.3,64.8,-6.1,79,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2137,3969
$GC,1052,-0.99,-117.3,77.2,-6.8,94,1057,0.00,2.97,0.00,0.000,4,0.000,0.052,2390,718,3969
$GC,1125,-0.99,-117.3,82.3,-7.2,99,1130,0.00,2.88,0.00,0.000,6,0.000,0.031,2390,2135,3969
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1256,-0.31,0.0,90.5,6.7,108,1350,0.70,0.00,90.88,0.747,6,0.086,0.000,2534,1878,3484
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1355,0.99,117.3,93.3,0.0,116,1448,1.35,0.00,88.25,0.735,6,0.068,0.000,2820,1876,3005
$GC,1636,0.99,117.3,74.8,7.9,139,1641,0.00,2.85,0.00,0.000,4,0.000,0.058,2820,489,3004
$GC,1670,0.99,117.3,71.8,9.0,141,1675,0.00,2.72,0.00,0.000,6,0.000,0.029,2820,1897,3004
$GC,1866,0.99,117.3,55.8,8.0,156,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1900,3004
$GC,2059,0.99,117.3,41.1,7.4,171,2063,0.00,2.90,0.00,0.000,4,0.000,0.055,2820,480,3003
$GC,2105,0.99,117.3,37.1,8.1,174,2110,0.00,2.75,0.00,0.000,6,0.000,0.030,2820,1896,3004
$GC,2302,0.99,117.3,22.8,7.1,189,2306,0.00,2.90,0.00,0.000,4,0.000,0.056,2820,480,3004
$GC,2322,0.99,117.3,21.3,7.2,190,2326,0.00,2.75,0.00,0.000,6,0.000,0.031,2820,1893,3003
$GC,2527,1.03,153.9,9.0,5.3,219,2563,0.00,3.00,26.60,0.693,4,0.000,0.054,2820,480,2856
$GC,2591,1.07,189.7,5.7,5.3,229,2605,0.12,2.75,8.15,0.716,2,0.051,0.029,2852,1892,2811
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$FINISH,0.3,1.012868
$STATE,2710,end surface coast,CONTROL_FINISHED_OK
$STATE,2710,begin surface
$SM_CCo,2734,260.67,0.633,0,0,599,707.45
$SM_GC,0.73,0.00,0.00,260.67,0.000,0.000,0.633,367,2152,599,-10.31,0.34,707.45
$IRIDIUM_FIX,4722.92,-12253.53,111007,171729
$TT8_MAMPS,0.025311
$HUMID,2078
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.5,33.6
$24V_AH,23.9,47.134
$10V_AH,10.2,16.585
$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,24.850,39.000,213.875,260.675,0.000,82.130,150.338,0.000,1.500,0.000,0.000,28.897,454.620,1477.219,585.647,452.799,423.262,33.341,862.094,0.000,430.598,0.000,10.064
$DEVICE_MAMPS,150.332,57.525,747.058,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,6466,247
$CFSIZE,260034560,242651136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,140659,4741.249,-12252.108,12,4.7,31,18.3