version: 66.02
glider: 23
mission: 2
dive: 154
start: 9 26 107 0 49 13
data:
$ID,23
$MISSION,2
$DIVE,154
$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,-28762.203
$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,16
$R_STBD_OVSHOOT,38
$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
$GPS1,004347,4739.404,-12252.710,9,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.5
$GPS2,004808,4739.404,-12252.704,15,2.0,15,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,0.085
$KALMAN_X,10022.8,144.0,-40.2,-9826.1,145.0
$KALMAN_Y,8039.6,94.7,-83.8,-8750.6,-117.7
$MHEAD_RNG_PITCHd_Wd,276.6,632,-25.7,-11.111
$D_GRID,123
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.71,-97.8,0.0,0.0,0,77,0.00,0.00,-55.25,0.000,2,0.000,0.000,366,1819,3220
$GC,80,-1.71,-97.8,2.1,-3.3,9,129,10.48,2.50,-29.05,0.000,4,0.150,0.062,2233,584,3884
$GC,149,-1.71,-97.8,5.0,-10.0,20,156,0.00,2.72,0.00,0.000,6,0.000,0.030,2233,1985,3886
$GC,221,-1.71,-97.8,12.3,-8.4,31,228,0.00,2.55,0.00,0.000,4,0.000,0.047,2233,3422,3886
$GC,477,-1.71,-97.8,34.7,-9.4,57,485,0.00,2.47,0.00,0.000,6,0.000,0.035,2233,2001,3888
$GC,674,-1.71,-97.8,51.7,-8.6,73,678,0.00,2.50,0.00,0.000,4,0.000,0.047,2233,3418,3888
$GC,931,-1.71,-97.8,76.8,-10.1,92,935,0.00,2.45,0.00,0.000,6,0.000,0.036,2233,1997,3888
$GC,1126,-1.71,-97.8,93.9,-8.2,107,1131,0.00,2.53,0.00,0.000,4,0.000,0.048,2233,3427,3889
$STATE,1197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1197,begin apogee
$GC,1205,-0.31,0.0,100.6,9.7,112,1285,1.55,0.00,76.30,0.737,6,0.112,0.000,2536,1787,3484
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1288,1.71,97.8,101.8,0.0,119,1373,2.05,2.85,73.78,0.723,4,0.067,0.061,2978,393,3084
$GC,1452,1.71,97.8,78.9,19.5,132,1456,0.00,2.65,0.00,0.000,6,0.000,0.028,2978,1817,3084
$GC,1654,1.71,97.8,43.4,17.0,148,1658,0.00,2.55,0.00,0.000,4,0.000,0.041,2978,3208,3083
$GC,1859,1.71,97.8,11.2,14.2,168,1865,0.00,2.62,0.00,0.000,6,0.000,0.043,2978,1795,3082
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,0.9,1.020198
$STATE,1943,end surface coast,CONTROL_FINISHED_OK
$STATE,1943,begin surface
$SM_CCo,1963,128.68,0.645,1,0,2057,350.04
$SM_GC,1.05,0.00,0.00,128.68,0.000,0.000,0.645,368,2001,2057,-10.31,0.03,350.04
$IRIDIUM_FIX,4719.74,-12324.58,260907,040441
$TT8_MAMPS,0.026845
$HUMID,2144
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.5,31.7
$24V_AH,24.0,13.635
$10V_AH,10.2,5.532
$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,26.100,31.825,150.075,128.675,0.000,39.531,38.638,105.748,1.250,0.000,0.000,16.648,361.840,1003.123,381.245,382.217,261.518,33.328,613.675,0.000,373.810,0.000,5.538
$DEVICE_MAMPS,149.565,62.127,737.087,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3319,181
$CFSIZE,260034560,253771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,012523,4739.547,-12252.779,10,3.9,29,18.3