version: 66.02
glider: 23
mission: 2
dive: 553
start: 10 11 107 17 6 41
data:
$ID,23
$MISSION,2
$DIVE,553
$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,-28922.23
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,165938,4740.539,-12252.472,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.8
$GPS2,170533,4740.532,-12252.476,12,1.6,12,18.3
$SPEED_LIMITS,0.143,0.189
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.092,-0.165
$KALMAN_X,-1582.9,113.3,9.8,-1732.8,53.8
$KALMAN_Y,-337.3,100.5,-83.1,-9077.0,18.3
$MHEAD_RNG_PITCHd_Wd,191.0,2171,-13.9,-6.667
$D_GRID,117
$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,22,begin dive
$GC,26,-0.99,-117.3,0.0,0.0,0,187,0.00,0.00,-155.88,0.000,6,0.000,0.000,367,2150,3964
$GC,191,-0.99,-117.3,3.8,-5.8,26,210,11.40,3.00,0.00,0.000,4,0.152,0.051,2387,738,3967
$GC,402,-0.99,-117.3,29.8,-8.0,50,407,0.00,2.85,0.00,0.000,6,0.000,0.031,2387,2136,3969
$GC,600,-0.99,-117.3,44.2,-7.0,65,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2135,3969
$GC,790,-0.99,-117.3,57.6,-7.2,80,795,0.00,2.95,0.00,0.000,4,0.000,0.049,2387,732,3969
$GC,816,-0.99,-117.3,59.8,-7.2,81,823,0.00,2.85,0.00,0.000,6,0.000,0.031,2387,2138,3969
$GC,1014,-0.99,-117.3,73.8,-7.1,97,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2137,3970
$GC,1202,-0.99,-117.3,87.3,-7.1,112,1206,0.00,2.95,0.00,0.000,4,0.000,0.050,2387,739,3970
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1259,-0.31,0.0,90.2,6.3,115,1353,0.73,0.00,90.45,0.742,6,0.092,0.000,2534,1898,3484
$STATE,1353,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1358,0.99,117.3,92.4,0.0,123,1453,1.35,2.65,88.45,0.726,4,0.067,0.047,2821,3308,3005
$GC,1483,0.99,117.3,84.7,9.1,133,1488,0.00,2.58,0.00,0.000,6,0.000,0.038,2821,1902,3005
$GC,1681,0.99,117.3,68.7,7.9,148,1686,0.00,2.92,0.00,0.000,4,0.000,0.058,2821,466,3004
$GC,1746,0.99,117.3,62.8,8.6,152,1753,0.00,2.78,0.00,0.000,6,0.000,0.029,2821,1897,3005
$GC,1943,0.99,117.3,47.3,7.5,168,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1899,3005
$GC,2135,0.99,117.3,33.1,7.4,183,2139,0.00,2.90,0.00,0.000,4,0.000,0.056,2821,478,3005
$GC,2156,0.99,117.3,31.5,7.1,184,2160,0.00,2.75,0.00,0.000,6,0.000,0.030,2821,1896,3005
$GC,2352,0.99,117.3,17.5,7.3,201,2359,0.00,2.90,0.00,0.000,4,0.000,0.056,2821,474,3005
$GC,2380,0.99,117.3,15.3,7.7,205,2386,0.00,2.72,0.00,0.000,6,0.000,0.030,2821,1889,3005
$GC,2453,1.00,119.3,10.1,6.6,216,2459,0.00,2.58,0.00,0.000,4,0.000,0.048,2821,3297,3005
$GC,2473,1.00,125.2,8.8,6.4,219,2486,0.00,2.55,5.70,0.736,6,0.000,0.037,2821,1883,2973
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2553,begin surface coast
$FINISH,0.3,1.002104
$STATE,2667,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2692,280.88,0.639,0,0,600,707.45
$SM_GC,0.74,0.00,0.00,280.88,0.000,0.000,0.639,368,2151,600,-10.31,0.31,707.45
$IRIDIUM_FIX,4722.92,-12253.53,111007,212140
$TT8_MAMPS,0.026845
$HUMID,2097
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.2,28.8
$24V_AH,23.9,47.524
$10V_AH,10.2,16.687
$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,24.600,44.850,184.600,280.875,0.000,78.222,150.337,0.000,2.000,0.000,0.000,17.071,448.844,1432.918,618.050,434.605,422.434,33.345,899.811,0.000,423.981,0.000,10.050
$DEVICE_MAMPS,151.866,58.292,742.456,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,6425,248
$CFSIZE,260034560,242536448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,175709,4740.307,-12252.633,8,1.2,8,18.3