version: 66.02
glider: 22
mission: 2
dive: 179
start: 9 27 107 6 48 23
data:
$ID,22
$MISSION,2
$DIVE,179
$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,-112698.49
$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,9
$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
$GPS1,064226,4739.492,-12252.637,14,1.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.3
$GPS2,064659,4739.511,-12252.644,16,2.2,35,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.261,-0.092
$KALMAN_X,27419.1,-29.9,75.3,-27040.9,-2.8
$KALMAN_Y,5786.5,-31.2,168.2,-6259.3,27.4
$MHEAD_RNG_PITCHd_Wd,91.2,313,-11.1,-7.407
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.78,-78.2,0.0,0.0,0,94,0.00,0.00,-68.05,0.000,2,0.000,0.000,39,2179,2756
$GC,96,-0.78,-78.2,2.4,-3.2,11,164,13.55,2.80,-45.80,0.000,4,0.196,0.125,2353,3561,3805
$GC,256,-0.78,-78.2,11.1,-7.2,36,262,0.00,2.83,0.00,0.000,6,0.000,0.108,2353,2155,3806
$GC,328,-0.78,-78.2,14.9,-5.3,47,334,0.00,2.97,0.00,0.000,4,0.000,0.140,2352,732,3806
$GC,433,-0.78,-78.2,20.0,-4.3,63,437,0.00,2.78,0.00,0.000,6,0.000,0.094,2352,2166,3806
$GC,635,-0.78,-78.2,29.8,-5.2,79,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,3807
$GC,825,-0.78,-78.2,40.6,-5.4,94,830,0.00,2.85,0.00,0.000,4,0.000,0.123,2353,3572,3808
$GC,910,-0.78,-78.2,45.7,-6.4,100,915,0.00,2.88,0.00,0.000,6,0.000,0.112,2352,2150,3808
$GC,1106,-0.78,-78.2,55.8,-5.4,115,1110,0.00,2.95,0.00,0.000,4,0.000,0.138,2352,730,3808
$GC,1165,-0.78,-78.2,59.2,-5.8,119,1169,0.00,2.80,0.00,0.000,6,0.000,0.096,2353,2176,3808
$GC,1360,-0.78,-78.2,69.6,-5.3,134,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2176,3808
$GC,1550,-0.78,-78.2,79.5,-5.6,149,1555,0.00,2.80,0.00,0.000,4,0.000,0.119,2353,3566,3808
$GC,1583,-0.78,-78.2,81.5,-6.6,151,1587,0.00,2.88,0.00,0.000,6,0.000,0.114,2353,2149,3808
$GC,1778,-0.78,-78.2,92.3,-5.2,166,1782,0.00,2.92,0.00,0.000,4,0.000,0.137,2352,736,3808
$GC,1824,-0.78,-78.2,95.0,-5.9,169,1828,0.00,2.78,0.00,0.000,6,0.000,0.096,2351,2167,3808
$STATE,1916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1916,begin apogee
$GC,1921,-0.31,0.0,100.0,5.2,176,1991,0.55,0.00,62.33,0.746,6,0.128,0.000,2458,2064,3484
$STATE,1992,end apogee,CONTROL_FINISHED_OK
$STATE,1992,begin climb
$GC,1993,0.78,78.2,101.6,0.0,182,2061,1.15,2.90,60.50,0.727,4,0.100,0.120,2694,648,3164
$GC,2106,0.84,130.7,96.9,6.2,190,2151,0.00,2.72,39.90,0.719,6,0.000,0.074,2694,2085,2950
$GC,2339,0.84,134.3,80.8,7.3,209,2344,0.00,0.00,2.75,0.794,6,0.000,0.000,2694,2085,2935
$GC,2528,0.85,145.9,67.1,7.1,224,2541,0.10,0.00,8.40,0.756,6,0.074,0.000,2721,2085,2887
$GC,2729,0.85,145.9,48.7,9.1,240,2733,0.00,2.92,0.00,0.000,4,0.000,0.123,2720,658,2887
$GC,2755,0.85,145.9,46.2,9.6,241,2762,0.00,2.67,0.00,0.000,6,0.000,0.075,2718,2086,2887
$GC,2950,0.85,145.9,28.0,9.3,257,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2086,2887
$GC,3144,0.85,145.9,11.2,8.0,279,3150,0.00,2.92,0.00,0.000,4,0.000,0.121,2720,648,2887
$STATE,3235,end climb,SURFACE_DEPTH_REACHED
$STATE,3235,begin surface coast
$FINISH,2.6,1.020482
$STATE,3294,end surface coast,CONTROL_FINISHED_OK
$STATE,3295,begin surface
$SM_CCo,3318,215.15,0.646,0,0,1240,550.21
$SM_GC,1.44,0.00,0.00,215.15,0.000,0.000,0.646,36,2177,1240,-11.47,0.45,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.6,7.8
$24V_AH,23.9,24.129
$10V_AH,10.2,6.385
$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,27.750,51.525,173.875,215.150,0.000,32.598,34.199,97.427,2.500,0.000,0.000,36.006,584.414,1924.956,520.310,531.425,293.370,33.336,840.155,0.000,511.503,0.000,5.353
$DEVICE_MAMPS,195.585,139.594,793.845,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,200.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9594,302
$CFSIZE,260034560,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,074823,4739.359,-12252.283,13,5.7,32,18.3