version: 66.02
glider: 23
mission: 2
dive: 550
start: 10 11 107 14 18 44
data:
$ID,23
$MISSION,2
$DIVE,550
$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,450
$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,-28918.908
$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,28
$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
$GPS1,140659,4741.249,-12252.108,12,4.7,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.2
$GPS2,141737,4741.238,-12252.076,44,1.5,50,18.3
$SPEED_LIMITS,0.143,0.189
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.088,-0.168
$KALMAN_X,-1750.2,38.2,-6.6,-978.5,29.1
$KALMAN_Y,-367.7,-22.9,58.7,-7757.7,-33.5
$MHEAD_RNG_PITCHd_Wd,189.3,3568,-13.9,-6.667
$D_GRID,110
$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,-117.3,0.0,0.0,0,191,0.00,0.00,-157.20,0.000,6,0.000,0.000,368,2152,3964
$GC,195,-0.99,-117.3,4.3,-7.0,27,214,11.32,2.40,0.00,0.000,4,0.150,0.046,2386,3559,3968
$GC,464,-0.99,-117.3,34.5,-8.1,55,470,0.00,2.35,0.00,0.000,6,0.000,0.034,2386,2154,3969
$GC,662,-0.99,-117.3,49.7,-7.9,71,666,0.00,2.42,0.00,0.000,4,0.000,0.051,2386,3559,3970
$GC,702,-0.99,-117.3,53.0,-8.4,74,706,0.00,2.40,0.00,0.000,6,0.000,0.034,2386,2135,3970
$GC,898,-0.99,-117.3,67.8,-7.8,89,903,0.00,2.97,0.00,0.000,4,0.000,0.052,2386,718,3969
$GC,937,-0.99,-117.3,71.0,-8.0,91,944,0.00,2.88,0.00,0.000,6,0.000,0.031,2386,2135,3970
$GC,1133,-0.99,-117.3,84.6,-7.1,107,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2134,3970
$STATE,1221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1229,-0.31,0.0,90.7,6.6,114,1324,0.73,0.00,90.82,0.740,6,0.087,0.000,2535,1876,3484
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1329,0.99,117.3,92.9,0.0,122,1426,1.35,0.00,89.05,0.726,6,0.068,0.000,2822,1876,3004
$GC,1616,0.99,117.3,72.3,8.4,145,1621,0.00,2.88,0.00,0.000,4,0.000,0.058,2822,478,3004
$GC,1642,0.99,117.3,69.9,9.0,146,1648,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,1901,3004
$GC,1839,0.99,117.3,53.8,7.7,162,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1901,3004
$GC,2030,0.99,117.3,39.7,7.8,177,2035,0.00,2.90,0.00,0.000,4,0.000,0.056,2822,486,3004
$GC,2105,0.99,117.3,33.4,8.6,182,2110,0.00,2.72,0.00,0.000,6,0.000,0.030,2822,1890,3005
$GC,2302,0.99,117.3,18.7,6.7,198,2308,0.00,2.58,0.00,0.000,4,0.000,0.048,2822,3298,3004
$GC,2356,0.99,117.3,14.7,7.9,206,2362,0.00,2.53,0.00,0.000,6,0.000,0.038,2822,1901,3004
$GC,2429,1.01,131.0,9.9,6.1,217,2441,0.00,0.00,9.68,0.713,6,0.000,0.000,2821,1901,2949
$GC,2509,1.07,186.1,5.9,4.6,229,2528,0.00,0.00,17.02,0.700,2,0.000,0.000,2822,1901,2854
$STATE,2529,end climb,SURFACE_DEPTH_REACHED
$STATE,2529,begin surface coast
$FINISH,0.2,1.005330
$STATE,2639,end surface coast,CONTROL_FINISHED_OK
$STATE,2639,begin surface
$SM_CCo,2664,140.48,0.645,0,0,1649,450.13
$SM_GC,0.82,0.00,0.00,140.48,0.000,0.000,0.645,367,2154,1649,-10.32,0.40,450.13
$IRIDIUM_FIX,4726.11,-12250.84,111007,181856
$TT8_MAMPS,0.026845
$HUMID,2108
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.7,23.3
$24V_AH,24.0,47.227
$10V_AH,10.2,16.613
$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,24.550,32.850,206.575,140.475,0.000,74.329,77.582,304.041,1.750,0.000,0.000,52.384,438.099,1402.813,497.448,472.022,660.410,33.351,776.049,0.000,423.270,0.000,10.048
$DEVICE_MAMPS,149.565,57.525,740.155,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,6458,249
$CFSIZE,260034560,242630656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,150647,4741.014,-12252.193,10,2.2,29,18.3