version: 66.02
glider: 23
mission: 2
dive: 157
start: 9 26 107 2 53 2
data:
$ID,23
$MISSION,2
$DIVE,157
$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,-28775.998
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,024750,4739.553,-12253.084,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.8
$GPS2,025157,4739.548,-12253.071,14,2.0,14,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,-0.126
$KALMAN_X,10424.0,172.8,77.5,-10828.6,88.0
$KALMAN_Y,8355.3,53.6,-130.7,-8713.0,67.8
$MHEAD_RNG_PITCHd_Wd,210.9,222,-26.8,-11.111
$D_GRID,116
$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,20,-1.77,-90.0,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,2,0.000,0.000,366,2004,3355
$GC,86,-1.78,-97.8,2.0,-3.2,10,124,10.43,2.55,-21.40,0.000,4,0.150,0.058,2218,3418,3884
$GC,373,-1.78,-97.8,30.3,-9.1,46,381,0.00,2.47,0.00,0.000,6,0.000,0.035,2218,2003,3887
$GC,570,-1.78,-97.8,47.1,-8.8,62,574,0.00,2.47,0.00,0.000,4,0.000,0.047,2218,3408,3888
$GC,826,-1.78,-97.8,72.2,-10.2,81,834,0.00,2.45,0.00,0.000,6,0.000,0.035,2218,2003,3889
$GC,1023,-1.78,-97.8,90.3,-9.6,97,1027,0.00,2.47,0.00,0.000,4,0.000,0.048,2218,3410,3889
$STATE,1121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1129,-0.31,0.0,100.2,10.7,104,1209,1.60,0.00,76.03,0.738,6,0.114,0.000,2536,1785,3484
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1212,1.78,97.8,102.5,0.0,111,1298,2.15,2.85,73.80,0.723,4,0.067,0.060,2994,391,3084
$GC,1376,1.78,97.8,79.2,19.6,124,1380,0.00,2.62,0.00,0.000,6,0.000,0.027,2994,1804,3084
$GC,1578,1.78,97.8,40.1,18.6,140,1582,0.00,2.58,0.00,0.000,4,0.000,0.041,2994,3214,3083
$STATE,1794,end climb,SURFACE_DEPTH_REACHED
$STATE,1794,begin surface coast
$FINISH,0.6,1.020175
$STATE,1842,end surface coast,CONTROL_FINISHED_OK
$STATE,1842,begin surface
$SM_CCo,1863,129.20,0.643,1,0,2056,350.04
$SM_GC,1.10,0.00,0.00,129.20,0.000,0.000,0.643,367,1998,2056,-10.32,-0.06,350.04
$IRIDIUM_FIX,4722.92,-12253.53,260907,060606
$TT8_MAMPS,0.026845
$HUMID,2131
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.4,31.8
$24V_AH,24.0,13.823
$10V_AH,10.2,5.586
$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,26.200,25.625,149.825,129.200,0.000,37.520,37.472,96.953,1.250,0.000,0.000,16.006,338.964,963.106,371.863,358.766,243.771,33.330,587.210,0.000,350.633,0.000,5.537
$DEVICE_MAMPS,150.332,59.826,737.854,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3324,171
$CFSIZE,260034560,253706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,032734,4739.514,-12253.156,12,2.2,31,18.3