version: 66.02
glider: 23
mission: 2
dive: 552
start: 10 11 107 16 11 34
data:
$ID,23
$MISSION,2
$DIVE,552
$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,-28926.963
$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,22
$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
$GPS1,160401,4740.793,-12252.303,40,1.4,40,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-61.2
$GPS2,161026,4740.771,-12252.323,8,1.9,13,18.3
$SPEED_LIMITS,0.143,0.189
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.098,-0.161
$KALMAN_X,-1614.6,87.2,-8.5,-1467.5,74.1
$KALMAN_Y,-327.0,62.3,-51.0,-8639.5,13.1
$MHEAD_RNG_PITCHd_Wd,193.1,2653,-13.9,-6.667
$D_GRID,108
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.99,-117.3,0.0,0.0,0,192,0.00,0.00,-158.32,0.000,6,0.000,0.000,365,2148,3964
$GC,196,-0.99,-117.3,4.2,-6.5,27,215,11.45,3.00,0.00,0.000,4,0.153,0.051,2390,727,3967
$GC,381,-0.99,-117.3,28.8,-8.6,48,386,0.00,2.88,0.00,0.000,6,0.000,0.031,2390,2142,3968
$GC,577,-0.99,-117.3,44.4,-7.4,63,582,0.00,2.97,0.00,0.000,4,0.000,0.048,2389,727,3969
$GC,599,-0.99,-117.3,46.0,-7.7,64,604,0.00,2.88,0.00,0.000,6,0.000,0.031,2390,2142,3969
$GC,795,-0.99,-117.3,60.6,-7.8,79,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2141,3969
$GC,988,-0.99,-117.3,74.5,-7.1,94,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2140,3969
$GC,1174,-0.99,-117.3,87.6,-7.0,109,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2141,3969
$STATE,1223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1223,begin apogee
$GC,1231,-0.31,0.0,90.7,6.3,113,1325,0.73,0.00,90.78,0.738,6,0.090,0.000,2537,1876,3485
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1330,0.99,117.3,92.2,0.0,121,1428,1.35,2.90,88.72,0.722,4,0.065,0.054,2824,484,3005
$GC,1445,0.99,117.3,84.7,8.7,130,1450,0.00,2.78,0.00,0.000,6,0.000,0.029,2825,1902,3005
$GC,1641,0.99,117.3,68.2,7.9,145,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1904,3005
$GC,1835,0.99,117.3,52.1,9.1,160,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1905,3005
$GC,2035,0.99,117.3,34.6,8.3,176,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1905,3005
$GC,2225,0.99,117.3,20.3,7.5,191,2229,0.00,2.90,0.00,0.000,4,0.000,0.055,2824,480,3005
$GC,2265,0.99,117.3,16.4,8.7,196,2271,0.00,2.72,0.00,0.000,6,0.000,0.029,2825,1893,3005
$GC,2339,1.01,130.3,11.4,6.2,207,2351,0.00,0.00,9.18,0.719,6,0.000,0.000,2824,1894,2952
$GC,2421,1.10,215.1,7.8,3.4,219,2465,0.12,0.00,40.95,0.680,2,0.051,0.000,2858,1896,2727
$STATE,2466,end climb,SURFACE_DEPTH_REACHED
$STATE,2466,begin surface coast
$FINISH,0.1,1.000205
$STATE,2550,end surface coast,CONTROL_FINISHED_OK
$STATE,2550,begin surface
$SM_CCo,2576,248.68,0.632,0,0,599,707.45
$SM_GC,0.69,0.00,0.00,248.68,0.000,0.000,0.632,366,2149,599,-10.32,0.25,707.45
$IRIDIUM_FIX,4729.30,-12049.04,111007,202016
$TT8_MAMPS,0.026845
$HUMID,2092
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,24.0,47.426
$10V_AH,10.2,16.663
$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,24.950,24.050,229.625,248.675,0.000,80.126,176.698,0.000,2.250,0.000,0.000,18.736,415.499,1367.106,603.283,405.641,446.901,33.347,876.411,0.000,395.402,0.000,9.897
$DEVICE_MAMPS,152.633,55.224,737.854,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,6456,239
$CFSIZE,260034560,242573312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,165938,4740.539,-12252.472,12,1.6,12,18.3