version: 66.02
glider: 22
mission: 2
dive: 176
start: 9 27 107 3 22 34
data:
$ID,22
$MISSION,2
$DIVE,176
$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,-112611.99
$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,2160
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,14
$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
$GPS1,031721,4739.465,-12253.304,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.1
$GPS2,032109,4739.475,-12253.309,14,1.4,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.280,-0.060
$KALMAN_X,27551.2,-40.8,-153.2,-27765.5,109.9
$KALMAN_Y,5863.5,-74.1,-130.8,-6062.0,152.5
$MHEAD_RNG_PITCHd_Wd,83.9,1131,-10.5,-7.407
$D_GRID,119
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,94,0.00,0.00,-67.45,0.000,2,0.000,0.000,38,2128,2739
$GC,96,-0.74,-78.2,2.1,-2.1,11,169,13.62,2.95,-50.83,0.000,4,0.196,0.127,2362,3573,3804
$GC,203,-0.74,-78.2,6.4,-8.6,28,210,0.00,2.85,0.00,0.000,6,0.000,0.107,2362,2157,3805
$GC,275,-0.74,-78.2,10.6,-4.7,39,282,0.00,2.97,0.00,0.000,4,0.000,0.137,2362,731,3805
$GC,334,-0.74,-78.2,13.5,-4.7,48,341,0.00,2.78,0.00,0.000,6,0.000,0.092,2363,2167,3805
$GC,406,-0.74,-78.2,17.3,-5.6,59,412,0.00,2.83,0.00,0.000,4,0.000,0.119,2363,3566,3806
$GC,464,-0.74,-78.2,21.0,-6.7,67,471,0.00,2.88,0.00,0.000,6,0.000,0.107,2362,2151,3806
$GC,660,-0.74,-78.2,29.8,-4.2,83,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2151,3807
$GC,851,-0.74,-78.2,38.0,-4.3,98,855,0.00,2.92,0.00,0.000,4,0.000,0.135,2362,733,3807
$GC,883,-0.74,-78.2,39.7,-5.0,100,887,0.00,2.78,0.00,0.000,6,0.000,0.093,2362,2170,3807
$GC,1078,-0.74,-78.2,49.9,-5.4,115,1085,0.00,2.80,0.00,0.000,4,0.000,0.119,2362,3566,3808
$GC,1144,-0.74,-78.2,53.5,-5.3,120,1149,0.00,2.83,0.00,0.000,6,0.000,0.110,2362,2158,3808
$GC,1339,-0.74,-78.2,63.4,-5.2,135,1344,0.00,2.92,0.00,0.000,4,0.000,0.137,2362,743,3808
$GC,1372,-0.74,-78.2,65.0,-5.2,137,1377,0.00,2.78,0.00,0.000,6,0.000,0.095,2362,2176,3807
$GC,1568,-0.74,-78.2,75.1,-5.4,152,1572,0.00,2.80,0.00,0.000,4,0.000,0.117,2362,3572,3808
$GC,1618,-0.74,-78.2,78.0,-6.1,155,1626,0.00,2.88,0.00,0.000,6,0.000,0.110,2362,2153,3808
$GC,1815,-0.74,-78.2,87.7,-5.0,171,1820,0.00,2.92,0.00,0.000,4,0.000,0.135,2362,732,3807
$GC,1874,-0.74,-78.2,90.8,-5.0,175,1879,0.00,2.78,0.00,0.000,6,0.000,0.095,2362,2167,3808
$GC,2070,-0.74,-78.2,99.9,-4.9,190,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2167,3807
$STATE,2080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2080,begin apogee
$GC,2085,-0.31,0.0,100.5,4.6,191,2155,0.50,0.00,62.30,0.741,6,0.126,0.000,2458,2064,3484
$STATE,2156,end apogee,CONTROL_FINISHED_OK
$STATE,2156,begin climb
$GC,2158,0.74,78.2,102.3,0.0,197,2227,1.15,0.00,61.30,0.724,6,0.100,0.000,2690,2058,3165
$GC,2416,0.86,187.6,90.6,5.1,218,2506,0.12,2.92,83.68,0.713,4,0.064,0.125,2724,658,2717
$GC,2551,0.86,187.6,79.0,9.8,228,2559,0.00,2.72,0.00,0.000,6,0.000,0.076,2724,2085,2717
$GC,2748,0.86,187.6,60.6,8.9,244,2752,0.00,2.78,0.00,0.000,4,0.000,0.107,2724,3488,2717
$GC,2794,0.86,187.6,56.2,9.9,247,2798,0.00,2.75,0.00,0.000,6,0.000,0.088,2724,2072,2717
$GC,2989,0.86,187.6,37.6,9.4,262,2994,0.00,2.90,0.00,0.000,4,0.000,0.126,2724,649,2717
$GC,3080,0.86,187.6,27.7,11.0,268,3088,0.00,2.70,0.00,0.000,6,0.000,0.075,2724,2076,2716
$GC,3282,0.86,187.6,8.1,8.5,293,3289,0.00,2.92,0.00,0.000,4,0.000,0.123,2724,646,2716
$STATE,3326,end climb,SURFACE_DEPTH_REACHED
$STATE,3326,begin surface coast
$FINISH,1.7,1.019846
$STATE,3393,end surface coast,CONTROL_FINISHED_OK
$STATE,3393,begin surface
$SM_CCo,3416,191.52,0.642,0,0,1240,550.21
$SM_GC,1.41,0.00,0.00,191.52,0.000,0.000,0.642,37,2166,1240,-11.46,0.20,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2091
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.9,23.863
$10V_AH,10.2,6.308
$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,27.725,68.475,207.275,191.525,0.000,32.611,32.129,86.140,2.250,0.000,0.000,14.384,594.689,1923.032,556.212,535.320,275.150,33.343,902.221,0.000,537.455,0.000,5.367
$DEVICE_MAMPS,195.585,137.293,740.922,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,310
$CFSIZE,260034560,252485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,042401,4739.407,-12252.766,39,1.2,45,18.3