version: 66.02
glider: 23
mission: 2
dive: 199
start: 9 28 107 2 44 6
data:
$ID,23
$MISSION,2
$DIVE,199
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,35
$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,-28499.254
$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,1900
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$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
$GPS1,023545,4739.525,-12252.837,12,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.1
$GPS2,024302,4739.515,-12252.840,16,1.5,16,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,-0.073
$KALMAN_X,11186.3,-93.1,-166.7,-10790.8,-10.3
$KALMAN_Y,6531.4,-136.5,-144.9,-6745.4,40.2
$MHEAD_RNG_PITCHd_Wd,93.0,554,-25.7,-11.111
$D_GRID,122
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.71,-97.8,0.0,0.0,0,85,0.00,0.00,-61.67,0.000,2,0.000,0.000,368,1874,3341
$GC,88,-1.71,-97.8,2.0,-4.4,10,125,10.48,2.83,-18.25,0.000,4,0.150,0.063,2235,492,3884
$GC,251,-1.71,-97.8,15.4,-8.1,35,257,0.00,2.70,0.00,0.000,6,0.000,0.027,2235,1899,3886
$GC,323,-1.71,-97.8,20.1,-6.7,46,328,0.00,2.80,0.00,0.000,4,0.000,0.048,2235,490,3886
$GC,395,-1.71,-97.8,25.3,-7.0,51,400,0.00,2.70,0.00,0.000,6,0.000,0.028,2236,1896,3885
$GC,590,-1.71,-97.8,40.0,-8.1,66,595,0.00,2.55,0.00,0.000,4,0.000,0.046,2235,3318,3887
$STATE,708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,708,begin apogee
$GC,716,-0.31,0.0,50.2,9.0,74,796,1.55,0.00,75.72,0.676,6,0.112,0.000,2537,1512,3483
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,799,1.71,97.8,52.1,0.0,81,884,2.08,2.62,72.97,0.667,4,0.071,0.061,2980,205,3084
$GC,910,1.71,97.8,38.8,17.9,90,914,0.00,2.33,0.00,0.000,6,0.000,0.026,2980,1508,3084
$GC,1109,1.71,97.8,4.8,16.0,112,1116,0.00,2.70,0.00,0.000,4,0.000,0.039,2981,2909,3083
$STATE,1127,end climb,SURFACE_DEPTH_REACHED
$STATE,1127,begin surface coast
$FINISH,0.6,1.020377
$STATE,1141,end surface coast,CONTROL_FINISHED_OK
$STATE,1141,begin surface
$SM_CCo,1164,126.93,0.620,0,0,2056,350.04
$SM_GC,0.85,0.00,0.00,126.93,0.000,0.000,0.620,369,1877,2056,-10.31,-0.65,350.04
$IRIDIUM_FIX,4719.74,-12251.79,280907,060612
$TT8_MAMPS,0.026845
$HUMID,2135
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,35.1,999.0
$24V_AH,24.0,17.037
$10V_AH,10.2,6.664
$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,26.000,26.600,148.700,126.925,0.000,78.764,68.223,136.286,1.750,0.000,0.000,17.721,244.284,550.262,362.088,232.695,369.603,33.326,526.829,0.000,228.326,0.000,4.021
$DEVICE_MAMPS,149.565,62.894,676.494,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,77.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3307,117
$CFSIZE,260034560,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,030633,4739.560,-12252.726,13,1.4,13,18.3