version: 66.02
glider: 23
mission: 2
dive: 297
start: 10 1 107 17 13 15
data:
$ID,23
$MISSION,2
$DIVE,297
$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,-28392.307
$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,21
$R_STBD_OVSHOOT,43
$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
$GPS1,170503,4739.857,-12251.762,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.2
$GPS2,171151,4739.891,-12251.712,14,1.4,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.187,-0.178
$KALMAN_X,16336.5,219.1,-99.9,-14916.2,-1.8
$KALMAN_Y,9511.3,8.0,66.5,-9383.9,13.1
$MHEAD_RNG_PITCHd_Wd,208.1,1165,-14.5,-9.048
$D_GRID,121
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.03,-117.3,0.0,0.0,0,91,0.00,0.00,-67.20,0.000,2,0.000,0.000,364,2145,3404
$GC,95,-1.03,-117.3,2.1,-4.3,11,131,11.27,0.00,-20.12,0.000,6,0.150,0.000,2379,2146,3962
$GC,197,-1.03,-117.3,8.6,-7.4,27,204,0.00,3.00,0.00,0.000,4,0.000,0.051,2379,708,3963
$GC,217,-1.03,-117.3,9.9,-6.6,30,223,0.00,2.83,0.00,0.000,6,0.000,0.030,2379,2118,3963
$GC,289,-1.03,-117.3,15.7,-9.1,41,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2118,3963
$GC,366,-1.03,-117.3,21.9,-7.7,51,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2117,3963
$GC,559,-1.03,-117.3,35.3,-7.3,66,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2117,3963
$GC,746,-1.03,-117.3,49.5,-8.1,81,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2118,3963
$GC,936,-1.03,-117.3,65.5,-8.2,96,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2117,3963
$GC,1127,-1.03,-117.3,80.4,-8.1,111,1131,0.00,2.92,0.00,0.000,4,0.000,0.051,2379,718,3963
$GC,1159,-1.03,-117.3,83.2,-8.1,113,1164,0.00,2.85,0.00,0.000,6,0.000,0.032,2379,2140,3963
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1296,-0.31,0.0,95.3,8.2,123,1390,0.80,0.00,90.47,0.745,6,0.088,0.000,2540,1738,3483
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1393,1.03,117.3,96.8,0.0,131,1491,1.38,2.83,88.70,0.721,4,0.067,0.056,2832,339,3004
$GC,1565,1.03,117.3,85.2,10.6,144,1572,0.00,2.70,0.00,0.000,6,0.000,0.028,2832,1758,3004
$GC,1762,1.04,124.6,68.3,8.8,160,1774,0.00,2.62,5.18,0.757,4,0.000,0.044,2832,3162,2975
$GC,1854,1.05,134.1,59.9,8.7,167,1867,0.00,2.62,6.68,0.747,6,0.000,0.041,2832,1748,2937
$GC,2056,1.07,147.5,43.0,8.6,183,2068,0.00,0.00,10.15,0.730,6,0.000,0.000,2832,1748,2882
$GC,2256,1.08,156.9,25.2,8.7,199,2269,0.00,2.62,6.68,0.732,4,0.000,0.042,2832,3155,2843
$GC,2323,1.10,173.8,19.5,8.5,204,2341,0.00,2.60,12.30,0.706,6,0.000,0.041,2832,1750,2774
$GC,2409,1.13,201.7,12.6,8.1,217,2434,0.10,0.00,20.85,0.685,6,0.058,0.000,2858,1749,2661
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2488,begin surface coast
$FINISH,0.3,1.001075
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2532,begin surface
$SM_CCo,2554,71.72,0.654,1,0,2057,350.04
$SM_GC,0.85,0.00,0.00,71.72,0.000,0.000,0.654,367,2153,2057,-10.32,0.65,350.04
$IRIDIUM_FIX,4726.11,-12253.53,011007,202046
$TT8_MAMPS,0.026845
$HUMID,2143
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,24.100
$10V_AH,10.2,8.821
$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,24.825,29.200,241.000,71.725,0.000,37.713,49.611,231.556,2.000,0.000,0.000,16.237,456.400,1372.573,402.335,414.398,440.215,33.334,670.340,0.000,405.205,0.000,7.063
$DEVICE_MAMPS,149.565,55.991,757.029,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,236
$CFSIZE,260034560,249819136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011007,175802,4739.704,-12251.876,12,1.7,12,18.3