version: 66.02
glider: 23
mission: 2
dive: 159
start: 9 26 107 4 13 7
data:
$ID,23
$MISSION,2
$DIVE,159
$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,45
$T_MISSION,90
$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,15
$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,-28790.57
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,30
$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
$GPS1,040727,4739.503,-12252.940,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.5
$GPS2,041144,4739.503,-12252.922,14,1.6,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.260,-0.094
$KALMAN_X,10511.6,161.7,118.8,-10756.4,50.8
$KALMAN_Y,8546.8,44.0,-60.2,-9047.3,149.8
$MHEAD_RNG_PITCHd_Wd,91.7,653,-8.8,-7.407
$D_GRID,120
$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,-0.66,-97.8,0.0,0.0,0,71,0.00,0.00,-49.35,0.000,2,0.000,0.000,365,2002,3118
$GC,74,-0.66,-97.8,2.1,-3.3,8,123,11.70,2.65,-30.88,0.000,4,0.147,0.059,2461,3506,3883
$GC,341,-0.66,-97.8,13.2,-3.0,49,348,0.00,2.42,0.00,0.000,6,0.000,0.033,2461,2082,3885
$GC,414,-0.66,-97.8,15.0,-2.4,60,420,0.00,2.83,0.00,0.000,4,0.000,0.051,2461,698,3886
$GC,452,-0.66,-97.8,16.3,-3.1,66,459,0.00,2.75,0.00,0.000,6,0.000,0.029,2461,2101,3886
$GC,524,-0.66,-97.8,18.6,-2.9,77,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2101,3886
$GC,602,-0.66,-97.8,20.9,-3.1,87,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2100,3886
$GC,792,-0.66,-97.8,27.1,-3.4,102,797,0.00,2.88,0.00,0.000,4,0.000,0.050,2461,693,3886
$GC,810,-0.66,-97.8,27.7,-3.2,103,815,0.00,2.78,0.00,0.000,6,0.000,0.029,2461,2111,3887
$GC,1006,-0.66,-97.8,34.2,-3.5,118,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2110,3887
$GC,1196,-0.66,-97.8,40.3,-3.5,133,1201,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,688,3887
$GC,1260,-0.66,-97.8,42.7,-3.6,137,1268,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2103,3887
$GC,1456,-0.66,-97.8,49.4,-3.2,153,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2102,3887
$GC,1647,-0.66,-97.8,55.8,-3.5,168,1651,0.00,2.88,0.00,0.000,4,0.000,0.050,2461,695,3887
$GC,1692,-0.66,-97.8,57.6,-4.0,171,1697,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,2110,3887
$GC,1887,-0.66,-97.8,63.9,-3.3,186,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2110,3887
$GC,2078,-0.66,-97.8,70.3,-3.6,201,2083,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,687,3887
$GC,2116,-0.66,-97.8,71.9,-4.3,203,2124,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2102,3887
$GC,2312,-0.66,-97.8,78.9,-3.6,219,2316,0.00,2.45,0.00,0.000,4,0.000,0.052,2461,3506,3887
$GC,2365,-0.66,-97.8,81.0,-4.0,223,2369,0.00,2.38,0.00,0.000,6,0.000,0.035,2461,2101,3887
$GC,2560,-0.66,-97.8,87.8,-3.2,238,2565,0.00,2.88,0.00,0.000,4,0.000,0.054,2461,686,3887
$GC,2593,-0.66,-97.8,89.1,-3.9,240,2597,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,2106,3887
$STATE,2710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2710,begin apogee
$GC,2715,-0.31,0.0,92.9,3.1,249,2797,0.40,0.00,75.60,0.743,6,0.082,0.000,2542,1893,3483
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2800,0.66,97.8,93.9,0.0,256,2877,0.98,0.00,73.80,0.721,6,0.069,0.000,2750,1893,3084
$GC,3061,0.81,241.8,81.7,4.6,277,3177,0.17,2.90,107.82,0.705,4,0.048,0.061,2794,500,2498
$GC,3322,0.81,241.8,61.8,7.9,297,3327,0.00,2.67,0.00,0.000,6,0.000,0.028,2794,1902,2497
$GC,3517,0.81,241.8,47.0,7.7,312,3522,0.00,2.88,0.00,0.000,4,0.000,0.061,2794,495,2497
$GC,3595,0.81,241.8,40.8,7.8,317,3603,0.00,2.70,0.00,0.000,6,0.000,0.028,2794,1898,2497
$GC,3792,0.83,252.4,26.7,7.2,333,3805,0.00,2.95,8.00,0.719,4,0.000,0.061,2794,494,2453
$GC,3890,0.83,252.4,19.0,7.9,341,3897,0.00,2.70,0.00,0.000,6,0.000,0.029,2794,1911,2453
$GC,3963,0.83,252.4,13.7,7.5,352,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1913,2453
$GC,4034,0.83,252.4,8.2,7.6,363,4040,0.00,2.88,0.00,0.000,4,0.000,0.061,2794,499,2453
$STATE,4084,end climb,SURFACE_DEPTH_REACHED
$STATE,4084,begin surface coast
$FINISH,4.1,1.021593
$STATE,4098,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4122,50.03,0.671,1,0,2057,350.04
$SM_GC,1.32,0.00,0.00,50.03,0.000,0.000,0.671,369,2099,2057,-10.31,-0.03,350.04
$IRIDIUM_FIX,4722.92,-12256.21,260907,070701
$TT8_MAMPS,0.026845
$HUMID,2162
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.4,30.6
$24V_AH,24.0,13.959
$10V_AH,10.2,5.631
$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,24.350,67.075,265.225,50.025,0.000,41.308,34.343,89.694,2.000,0.000,0.000,32.631,706.110,2389.750,435.500,680.256,272.920,33.327,830.293,0.000,648.069,0.000,5.539
$DEVICE_MAMPS,147.264,61.360,743.223,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,251.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,373
$CFSIZE,260034560,253616128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,052407,4739.410,-12252.429,28,1.0,40,18.3