version: 66.02
glider: 23
mission: 2
dive: 153
start: 9 26 107 0 7 14
data:
$ID,23
$MISSION,2
$DIVE,153
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,30
$T_MISSION,70
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-28762.949
$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,1825
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,40
$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
$GPS1,235827,4739.359,-12252.693,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.1
$GPS2,000609,4739.336,-12252.721,13,1.4,13,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,0.124
$KALMAN_X,9792.1,121.8,-66.3,-9567.8,116.5
$KALMAN_Y,8058.5,128.5,-27.7,-8982.1,-156.6
$MHEAD_RNG_PITCHd_Wd,289.9,647,-25.7,-11.111
$D_GRID,125
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.71,-97.8,0.0,0.0,0,77,0.00,0.00,-55.60,0.000,2,0.000,0.000,367,1835,3239
$GC,80,-1.71,-97.8,2.0,-3.8,9,124,10.48,2.78,-26.77,0.000,4,0.150,0.061,2235,403,3883
$GC,209,-1.71,-97.8,13.0,-8.1,29,216,0.00,2.62,0.00,0.000,6,0.000,0.029,2235,1813,3884
$GC,282,-1.71,-97.8,17.8,-7.0,40,288,0.00,2.62,0.00,0.000,4,0.000,0.044,2234,3245,3884
$GC,538,-1.71,-97.8,35.6,-7.9,62,545,0.00,2.60,0.00,0.000,6,0.000,0.037,2235,1828,3886
$GC,734,-1.71,-97.8,51.8,-8.6,78,738,0.00,2.60,0.00,0.000,4,0.000,0.044,2234,3243,3888
$GC,991,-1.71,-97.8,76.1,-10.0,97,996,0.00,2.58,0.00,0.000,6,0.000,0.038,2233,1823,3888
$GC,1187,-1.71,-97.8,95.0,-9.4,112,1191,0.00,2.60,0.00,0.000,4,0.000,0.047,2235,3232,3887
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1244,-0.31,0.0,100.2,9.5,115,1324,1.52,0.00,76.25,0.733,6,0.110,0.000,2533,1590,3484
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1327,1.71,97.8,101.8,0.0,122,1412,2.10,2.75,73.70,0.722,4,0.068,0.064,2982,213,3085
$GC,1536,1.71,97.8,70.4,19.3,138,1544,0.00,2.53,0.00,0.000,6,0.000,0.026,2982,1605,3084
$GC,1733,1.71,97.8,36.2,17.2,154,1737,0.00,2.62,0.00,0.000,4,0.000,0.039,2983,2994,3084
$STATE,1929,end climb,SURFACE_DEPTH_REACHED
$STATE,1929,begin surface coast
$FINISH,1.5,1.020435
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1964,begin surface
$SM_CCo,1986,130.45,0.644,1,0,2057,350.04
$SM_GC,1.07,0.00,0.00,130.45,0.000,0.000,0.644,366,1818,2057,-10.32,-0.20,350.04
$IRIDIUM_FIX,4722.92,-12256.21,260907,040403
$TT8_MAMPS,0.026845
$HUMID,2139
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.5,37.5
$24V_AH,24.0,13.570
$10V_AH,10.2,5.513
$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,26.325,31.650,149.950,130.450,0.000,80.003,81.396,161.038,1.250,0.000,0.000,15.450,362.474,1084.495,381.120,386.453,401.071,33.335,613.078,0.000,378.939,0.000,5.546
$DEVICE_MAMPS,149.565,63.661,733.252,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3315,181
$CFSIZE,260034560,253796352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,004347,4739.404,-12252.710,9,2.4,28,18.3