version: 66.02
glider: 23
mission: 2
dive: 551
start: 10 11 107 15 14 6
data:
$ID,23
$MISSION,2
$DIVE,551
$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,-28930.428
$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,18
$R_STBD_OVSHOOT,29
$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
$GPS1,150647,4741.014,-12252.193,10,2.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.9
$GPS2,151259,4740.988,-12252.181,10,2.1,29,18.3
$SPEED_LIMITS,0.143,0.189
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.098,-0.162
$KALMAN_X,-1668.9,63.6,-14.7,-1206.5,58.5
$KALMAN_Y,-364.6,21.0,-2.0,-8207.5,-17.9
$MHEAD_RNG_PITCHd_Wd,192.8,3092,-13.9,-6.667
$D_GRID,106
$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,-108.65,0.000,6,0.000,0.000,367,2153,3964
$GC,150,-0.99,-117.3,4.5,-7.1,19,168,11.38,2.40,0.00,0.000,4,0.151,0.048,2387,3556,3967
$GC,422,-0.99,-117.3,37.2,-7.7,45,428,0.00,2.38,0.00,0.000,6,0.000,0.035,2387,2144,3969
$GC,619,-0.99,-117.3,50.9,-6.8,61,623,0.00,2.45,0.00,0.000,4,0.000,0.051,2387,3547,3969
$GC,652,-0.99,-117.3,53.3,-7.4,63,656,0.00,2.38,0.00,0.000,6,0.000,0.035,2387,2137,3969
$GC,849,-0.99,-117.3,66.4,-6.6,78,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2137,3969
$GC,1037,-0.99,-117.3,79.5,-6.7,93,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2137,3969
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1207,-0.31,0.0,90.5,6.5,106,1302,0.73,0.00,91.28,0.742,6,0.089,0.000,2536,1877,3484
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1307,0.99,117.3,92.5,0.0,114,1405,1.35,2.67,88.68,0.723,4,0.066,0.044,2823,3307,3004
$GC,1422,0.99,117.3,86.5,7.6,123,1427,0.00,2.60,0.00,0.000,6,0.000,0.039,2823,1896,3003
$GC,1618,0.99,117.3,69.9,8.1,138,1623,0.00,2.90,0.00,0.000,4,0.000,0.060,2823,479,3003
$GC,1658,0.99,117.3,66.5,8.3,140,1664,0.00,2.72,0.00,0.000,6,0.000,0.029,2823,1886,3002
$GC,1854,0.99,117.3,50.6,8.2,156,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1886,3003
$GC,2046,0.99,117.3,37.1,7.2,171,2051,0.00,2.90,0.00,0.000,4,0.000,0.056,2823,468,3003
$GC,2093,0.99,117.3,33.1,8.5,174,2098,0.00,2.75,0.00,0.000,6,0.000,0.030,2823,1893,3003
$GC,2290,1.00,118.0,19.5,6.6,189,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1894,3003
$GC,2362,1.00,118.0,14.4,7.3,200,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1896,3003
$GC,2436,1.00,122.2,9.2,6.5,211,2449,0.00,2.62,3.50,0.758,4,0.000,0.048,2823,3294,2984
$GC,2463,1.03,153.8,7.7,5.5,215,2494,0.00,2.58,23.05,0.692,6,0.000,0.037,2823,1877,2857
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,0.2,1.004284
$STATE,2618,end surface coast,CONTROL_FINISHED_OK
$STATE,2618,begin surface
$SM_CCo,2643,263.42,0.634,0,0,600,707.45
$SM_GC,0.77,0.00,0.00,263.42,0.000,0.000,0.634,364,2147,600,-10.33,0.20,707.45
$IRIDIUM_FIX,4722.92,-12249.11,111007,191945
$TT8_MAMPS,0.026845
$HUMID,2093
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,75.2,36.2
$24V_AH,24.0,47.325
$10V_AH,10.2,16.638
$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,24.625,32.425,206.500,263.425,0.000,77.804,150.336,0.000,2.000,0.000,0.000,34.819,433.009,1434.973,580.150,444.103,414.776,33.359,856.801,0.000,417.589,0.000,5.540
$DEVICE_MAMPS,151.099,59.826,757.796,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,6446,239
$CFSIZE,260034560,242601984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,160401,4740.793,-12252.303,40,1.4,40,18.3