version: 66.02
glider: 23
mission: 2
dive: 296
start: 10 1 107 16 20 24
data:
$ID,23
$MISSION,2
$DIVE,296
$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,-28395.922
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,161407,4740.086,-12251.573,27,1.5,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.9
$GPS2,161902,4740.095,-12251.548,9,1.8,9,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.171,-0.194
$KALMAN_X,16233.6,223.7,-132.1,-14577.4,16.6
$KALMAN_Y,9508.3,5.1,43.7,-8976.2,32.5
$MHEAD_RNG_PITCHd_Wd,203.2,1577,-14.5,-9.048
$D_GRID,119
$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,-117.3,0.0,0.0,0,91,0.00,0.00,-65.15,0.000,2,0.000,0.000,364,2123,3352
$GC,94,-1.03,-117.3,2.1,-4.4,11,137,11.27,2.55,-21.95,0.000,4,0.149,0.064,2378,3542,3963
$GC,177,-1.03,-117.3,7.7,-9.4,24,183,0.00,2.40,0.00,0.000,6,0.000,0.033,2376,2122,3963
$GC,249,-1.03,-117.3,16.0,-12.5,35,255,0.00,2.95,0.00,0.000,4,0.000,0.054,2378,715,3963
$GC,341,-1.03,-117.3,23.0,-6.6,46,346,0.00,2.88,0.00,0.000,6,0.000,0.032,2378,2146,3964
$GC,537,-1.03,-117.3,36.7,-7.6,61,541,0.00,2.97,0.00,0.000,4,0.000,0.051,2378,719,3964
$GC,570,-1.03,-117.3,39.1,-7.3,63,574,0.00,2.85,0.00,0.000,6,0.000,0.031,2378,2140,3964
$GC,765,-1.03,-117.3,52.2,-6.9,78,769,0.00,2.42,0.00,0.000,4,0.000,0.051,2378,3540,3964
$GC,922,-1.03,-117.3,64.9,-7.6,89,929,0.00,2.40,0.00,0.000,6,0.000,0.036,2378,2138,3964
$GC,1119,-1.03,-117.3,78.9,-7.0,105,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2138,3964
$GC,1308,-1.03,-117.3,92.4,-6.9,120,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2138,3965
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1350,-0.31,0.0,95.2,7.4,123,1444,0.80,0.00,90.50,0.746,6,0.086,0.000,2540,1729,3484
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1448,1.03,117.3,97.6,0.0,131,1546,1.38,2.83,89.00,0.723,4,0.067,0.061,2831,336,3004
$GC,1553,1.09,173.0,92.3,7.3,139,1600,0.00,2.70,41.72,0.713,6,0.000,0.029,2831,1765,2778
$GC,1798,1.11,189.4,70.4,8.5,159,1816,0.00,2.60,12.55,0.723,4,0.000,0.042,2831,3153,2710
$GC,1921,1.11,189.4,58.4,10.2,168,1926,0.00,2.60,0.00,0.000,6,0.000,0.041,2831,1755,2710
$GC,2117,1.12,193.3,41.1,8.9,183,2130,0.10,2.90,2.67,0.772,4,0.058,0.063,2857,340,2694
$GC,2143,1.12,193.3,38.3,10.9,185,2147,0.00,2.65,0.00,0.000,6,0.000,0.029,2857,1753,2694
$GC,2339,1.12,193.3,17.4,10.3,201,2345,0.00,2.58,0.00,0.000,4,0.000,0.042,2857,3153,2696
$GC,2397,1.12,193.3,11.6,10.1,210,2404,0.00,2.60,0.00,0.000,6,0.000,0.041,2857,1750,2695
$STATE,2467,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,0.2,1.021533
$STATE,2522,end surface coast,CONTROL_FINISHED_OK
$STATE,2522,begin surface
$SM_CCo,2544,75.82,0.657,1,0,2057,350.04
$SM_GC,0.84,0.00,0.00,75.82,0.000,0.000,0.657,364,2145,2057,-10.33,0.42,350.04
$IRIDIUM_FIX,4722.92,-12249.11,011007,191928
$TT8_MAMPS,0.026078
$HUMID,2142
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,35.7
$24V_AH,24.0,24.019
$10V_AH,10.2,8.799
$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,24.800,44.475,236.450,75.825,0.000,40.750,36.478,134.709,1.000,0.000,0.000,10.909,450.622,1348.230,408.576,423.820,333.395,33.333,686.714,0.000,418.703,0.000,5.545
$DEVICE_MAMPS,148.798,63.661,771.602,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,229
$CFSIZE,260034560,249843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011007,170503,4739.857,-12251.762,11,1.9,11,18.3