version: 66.02
glider: 23
mission: 2
dive: 156
start: 9 26 107 2 12 2
data:
$ID,23
$MISSION,2
$DIVE,156
$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,-28776.008
$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,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,32
$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
$GPS1,020635,4739.562,-12252.977,9,3.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.7
$GPS2,021057,4739.562,-12252.944,14,1.4,14,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.185,-0.079
$KALMAN_X,10316.6,158.0,30.4,-10500.6,136.4
$KALMAN_Y,8256.5,60.6,-145.1,-8579.9,35.7
$MHEAD_RNG_PITCHd_Wd,228.5,367,-25.7,-11.111
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.71,-97.8,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,2,0.000,0.000,370,1999,3352
$GC,86,-1.71,-97.8,2.1,-3.4,10,124,10.48,2.55,-21.62,0.000,4,0.150,0.058,2235,3412,3883
$GC,373,-1.71,-97.8,26.9,-9.0,48,381,0.00,2.45,0.00,0.000,6,0.000,0.034,2235,2006,3886
$GC,570,-1.71,-97.8,41.4,-7.5,64,574,0.00,2.45,0.00,0.000,4,0.000,0.046,2235,3406,3888
$GC,826,-1.71,-97.8,64.0,-9.7,83,834,0.00,2.45,0.00,0.000,6,0.000,0.035,2235,2004,3888
$GC,1023,-1.71,-97.8,81.7,-8.9,99,1027,0.00,2.47,0.00,0.000,4,0.000,0.048,2235,3410,3888
$STATE,1225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1233,-0.31,0.0,100.1,9.8,114,1314,1.52,0.00,76.20,0.736,6,0.113,0.000,2533,1781,3483
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1317,1.71,97.8,102.3,0.0,121,1402,2.10,2.85,73.70,0.724,4,0.070,0.061,2982,389,3084
$GC,1433,1.71,97.8,87.9,17.9,130,1441,0.00,2.67,0.00,0.000,6,0.000,0.027,2982,1810,3083
$GC,1630,1.71,97.8,51.7,18.8,146,1634,0.00,2.55,0.00,0.000,4,0.000,0.041,2982,3204,3083
$GC,1887,1.71,97.8,8.1,15.4,171,1894,0.00,2.60,0.00,0.000,6,0.000,0.041,2982,1794,3082
$STATE,1911,end climb,SURFACE_DEPTH_REACHED
$STATE,1911,begin surface coast
$FINISH,0.9,1.020973
$STATE,1954,end surface coast,CONTROL_FINISHED_OK
$STATE,1954,begin surface
$SM_CCo,1974,124.00,0.642,0,0,2057,350.04
$SM_GC,1.05,0.00,0.00,124.00,0.000,0.000,0.642,366,2005,2057,-10.32,0.11,350.04
$IRIDIUM_FIX,4722.92,-12256.21,260907,050558
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,28.7
$24V_AH,24.0,13.760
$10V_AH,10.2,5.569
$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,26.025,26.450,149.900,124.000,0.000,40.265,43.943,101.242,0.750,0.000,0.000,15.538,358.015,1020.629,367.272,382.580,263.111,33.331,594.860,0.000,374.750,0.000,5.534
$DEVICE_MAMPS,149.565,60.593,736.320,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3326,181
$CFSIZE,260034560,253726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,024750,4739.553,-12253.084,8,1.6,8,18.3