version: 66.02
glider: 23
mission: 2
dive: 294
start: 10 1 107 14 41 7
data:
$ID,23
$MISSION,2
$DIVE,294
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,35
$T_MISSION,120
$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,20
$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,350
$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,-28410.652
$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,2130
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$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,2
$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
$GPS1,142355,4740.498,-12251.079,24,1.8,42,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-59.5
$GPS2,143945,4740.514,-12251.021,10,2.0,10,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,-0.221
$KALMAN_X,16120.3,301.1,-60.7,-13962.5,-80.4
$KALMAN_Y,9464.7,8.6,-21.6,-8096.9,55.9
$MHEAD_RNG_PITCHd_Wd,192.9,2593,-14.5,-9.048
$D_GRID,100
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,167,0.00,0.00,-140.07,0.000,2,0.000,0.000,365,2152,3415
$GC,170,-1.03,-117.3,2.1,-5.8,23,207,11.30,0.00,-18.40,0.000,6,0.150,0.000,2380,2152,3964
$GC,273,-1.03,-117.3,11.1,-10.8,39,279,0.00,2.40,0.00,0.000,4,0.000,0.049,2380,3539,3967
$GC,299,-1.03,-117.3,14.0,-11.1,43,306,0.00,2.40,0.00,0.000,6,0.000,0.035,2380,2125,3967
$GC,378,-1.03,-117.3,21.1,-7.7,54,382,0.00,2.45,0.00,0.000,4,0.000,0.050,2380,3524,3967
$GC,451,-1.03,-117.3,27.8,-10.9,59,456,0.00,2.38,0.00,0.000,6,0.000,0.036,2380,2128,3968
$GC,646,-1.03,-117.3,52.3,-11.7,74,651,0.00,2.95,0.00,0.000,4,0.000,0.054,2380,709,3969
$GC,706,-1.03,-117.3,59.2,-12.5,78,710,0.00,2.83,0.00,0.000,6,0.000,0.031,2380,2118,3968
$GC,901,-1.03,-117.3,77.0,-8.8,93,905,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,3545,3969
$GC,1028,-1.03,-117.3,85.2,-7.9,102,1032,0.00,2.40,0.00,0.000,6,0.000,0.035,2380,2124,3969
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1190,-0.31,0.0,95.8,9.8,114,1283,0.80,0.00,88.60,0.742,6,0.091,0.000,2540,1731,3484
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1286,1.03,117.3,101.4,0.0,122,1384,1.35,2.85,88.28,0.736,4,0.064,0.064,2832,340,3005
$GC,1453,1.03,117.3,91.6,13.1,135,1458,0.00,2.67,0.00,0.000,6,0.000,0.028,2830,1770,3008
$GC,1648,1.03,117.3,69.2,11.3,150,1653,0.00,2.55,0.00,0.000,4,0.000,0.042,2830,3154,3011
$GC,1708,1.03,117.3,63.0,10.0,154,1712,0.00,2.62,0.00,0.000,6,0.000,0.041,2830,1739,3011
$GC,1903,1.22,292.0,51.2,3.4,169,2043,0.17,2.65,130.80,0.691,4,0.047,0.038,2877,3154,2293
$GC,2128,1.22,292.0,30.0,10.1,187,2133,0.00,2.65,0.00,0.000,6,0.000,0.047,2877,1749,2294
$GC,2329,1.22,292.0,6.2,10.8,210,2335,0.00,2.83,0.00,0.000,4,0.000,0.065,2877,335,2295
$STATE,2339,end climb,SURFACE_DEPTH_REACHED
$STATE,2339,begin surface coast
$FINISH,1.1,1.022075
$STATE,2373,end surface coast,CONTROL_FINISHED_OK
$STATE,2373,begin surface
$SM_CCo,2398,30.25,0.658,0,0,2057,350.04
$SM_GC,0.99,0.00,0.00,30.25,0.000,0.000,0.658,367,2127,2057,-10.32,-0.08,350.04
$IRIDIUM_FIX,4722.92,-12253.53,011007,181827
$TT8_MAMPS,0.026845
$HUMID,2133
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.9,21.9
$24V_AH,24.0,23.870
$10V_AH,10.2,8.756
$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,25.000,43.400,307.675,30.250,0.000,159.478,276.378,239.273,1.750,0.000,0.000,12.305,406.546,1324.986,453.089,433.060,805.142,33.345,753.905,0.000,422.311,0.000,10.031
$DEVICE_MAMPS,150.332,65.195,741.689,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,217
$CFSIZE,260034560,249888768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,152250,4740.324,-12251.260,13,1.5,31,18.3