version: 66.02
glider: 22
mission: 2
dive: 174
start: 9 27 107 1 1 57
data:
$ID,22
$MISSION,2
$DIVE,174
$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,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-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,550
$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,-112565.11
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$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,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,005637,4739.565,-12253.295,15,1.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.1
$GPS2,010033,4739.561,-12253.297,12,1.5,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.209,-0.181
$KALMAN_X,27382.0,-18.7,-132.2,-27620.8,-73.9
$KALMAN_Y,5680.6,-92.2,-253.0,-5576.5,-8.8
$MHEAD_RNG_PITCHd_Wd,112.6,211,-11.1,-7.407
$D_GRID,117
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,100,0.00,0.00,-73.60,0.000,2,0.000,0.000,39,2130,2869
$GC,103,-0.78,-78.2,2.3,-3.1,12,165,13.68,2.90,-40.67,0.000,4,0.199,0.139,2352,729,3802
$GC,178,-0.78,-78.2,5.0,-7.7,24,184,0.00,2.75,0.00,0.000,6,0.000,0.087,2352,2158,3803
$GC,250,-0.78,-78.2,9.4,-4.5,35,256,0.00,2.85,0.00,0.000,4,0.000,0.120,2352,3562,3804
$GC,269,-0.78,-78.2,10.4,-5.2,38,275,0.00,2.85,0.00,0.000,6,0.000,0.104,2352,2137,3805
$GC,341,-0.78,-78.2,14.3,-4.9,49,347,0.00,2.92,0.00,0.000,4,0.000,0.136,2352,729,3805
$GC,386,-0.78,-78.2,16.7,-5.5,56,393,0.00,2.78,0.00,0.000,6,0.000,0.093,2352,2159,3804
$GC,457,-0.78,-78.2,21.9,-7.4,65,462,0.00,2.97,0.00,0.000,4,0.000,0.130,2352,730,3805
$GC,489,-0.78,-78.2,23.0,-3.7,67,494,0.00,2.78,0.00,0.000,6,0.000,0.095,2352,2161,3806
$GC,692,-0.78,-78.2,32.9,-4.9,83,696,0.00,2.85,0.00,0.000,4,0.000,0.120,2352,3570,3807
$GC,729,-0.78,-78.2,35.4,-6.7,85,737,0.00,2.90,0.00,0.000,6,0.000,0.109,2352,2145,3807
$GC,926,-0.78,-78.2,46.1,-6.0,101,930,0.00,2.95,0.00,0.000,4,0.000,0.137,2352,726,3807
$GC,977,-0.78,-78.2,49.2,-6.3,104,985,0.00,2.80,0.00,0.000,6,0.000,0.095,2352,2149,3807
$GC,1174,-0.78,-78.2,59.2,-5.3,120,1178,0.00,2.88,0.00,0.000,4,0.000,0.121,2352,3572,3807
$GC,1247,-0.78,-78.2,63.2,-5.2,125,1252,0.00,2.90,0.00,0.000,6,0.000,0.111,2352,2137,3807
$GC,1443,-0.78,-78.2,73.2,-5.2,140,1447,0.00,2.92,0.00,0.000,4,0.000,0.137,2352,727,3807
$GC,1480,-0.78,-78.2,75.3,-5.8,142,1488,0.00,2.80,0.00,0.000,6,0.000,0.096,2352,2152,3807
$GC,1677,-0.78,-78.2,85.3,-5.5,158,1681,0.00,2.85,0.00,0.000,4,0.000,0.120,2353,3563,3807
$GC,1741,-0.78,-78.2,89.3,-6.2,162,1749,0.00,2.90,0.00,0.000,6,0.000,0.114,2352,2149,3807
$GC,1938,-0.78,-78.2,99.3,-5.6,178,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2149,3807
$STATE,1948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1948,begin apogee
$GC,1953,-0.31,0.0,100.0,5.6,179,2023,0.55,0.00,62.42,0.741,6,0.127,0.000,2458,2043,3484
$STATE,2024,end apogee,CONTROL_FINISHED_OK
$STATE,2024,begin climb
$GC,2026,0.78,78.2,101.5,0.0,185,2091,1.17,0.00,61.30,0.723,6,0.106,0.000,2696,2038,3165
$GC,2276,0.85,140.5,89.4,6.0,205,2329,0.00,2.90,47.67,0.718,4,0.000,0.102,2695,3467,2909
$GC,2387,0.85,140.5,80.6,9.4,213,2395,0.00,2.83,0.00,0.000,6,0.000,0.089,2695,2039,2910
$GC,2584,0.85,140.5,64.7,7.6,229,2588,0.00,2.90,0.00,0.000,4,0.000,0.128,2695,624,2909
$GC,2629,0.85,140.5,60.7,8.9,232,2634,0.00,2.70,0.00,0.000,6,0.000,0.076,2695,2061,2909
$GC,2831,0.85,140.5,45.4,7.6,248,2836,0.00,2.78,0.00,0.000,4,0.000,0.107,2696,3465,2908
$GC,2864,0.85,140.5,42.8,8.1,250,2868,0.00,2.75,0.00,0.000,6,0.000,0.085,2695,2040,2908
$GC,3066,0.85,140.5,27.3,7.6,266,3070,0.00,2.88,0.00,0.000,4,0.000,0.125,2695,625,2908
$GC,3117,0.85,140.5,23.4,7.8,269,3125,0.00,2.70,0.00,0.000,6,0.000,0.075,2695,2052,2909
$GC,3321,0.86,148.9,9.5,7.2,296,3334,0.00,2.92,5.70,0.736,4,0.000,0.120,2695,630,2876
$GC,3373,0.95,230.1,6.5,5.5,304,3411,0.17,2.70,32.38,0.691,2,0.067,0.079,2736,2060,2703
$STATE,3412,end climb,SURFACE_DEPTH_REACHED
$STATE,3412,begin surface coast
$FINISH,4.4,1.020970
$STATE,3417,end surface coast,CONTROL_FINISHED_OK
$STATE,3417,begin surface
$SM_CCo,3438,189.50,0.639,0,0,1240,550.21
$SM_GC,1.40,0.00,0.00,189.50,0.000,0.000,0.639,38,2162,1240,-11.46,0.34,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2085
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.9,23.685
$10V_AH,10.2,6.256
$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,28.225,80.000,209.475,189.500,0.000,32.609,34.730,91.623,1.750,0.000,0.000,12.544,604.768,1913.600,557.856,545.463,289.039,33.341,916.275,0.000,548.303,0.000,5.349
$DEVICE_MAMPS,198.653,139.594,740.922,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9583,311
$CFSIZE,260034560,252538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,020329,4739.393,-12252.914,11,4.2,30,18.3