version: 66.02
glider: 22
mission: 2
dive: 180
start: 9 27 107 7 54 41
data:
$ID,22
$MISSION,2
$DIVE,180
$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,-112734.87
$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,6
$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
$GPS1,074823,4739.359,-12252.283,13,5.7,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.3
$GPS2,075317,4739.357,-12252.285,15,3.9,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.221
$KALMAN_X,27252.0,-74.4,73.0,-26373.0,16.2
$KALMAN_Y,5739.5,-25.1,183.4,-6517.3,-17.1
$MHEAD_RNG_PITCHd_Wd,304.6,250,-11.1,-7.407
$D_GRID,125
$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,-78.2,0.0,0.0,0,93,0.00,0.00,-67.90,0.000,2,0.000,0.000,36,2177,2741
$GC,96,-0.78,-78.2,2.1,-2.3,11,170,13.65,3.05,-51.33,0.000,4,0.197,0.148,2353,735,3803
$GC,322,-0.78,-78.2,13.6,-5.5,46,329,0.00,2.78,0.00,0.000,6,0.000,0.092,2354,2169,3805
$GC,394,-0.78,-78.2,16.8,-4.1,57,401,0.00,2.85,0.00,0.000,4,0.000,0.122,2354,3570,3806
$GC,446,-0.78,-78.2,19.6,-5.6,65,453,0.00,2.88,0.00,0.000,6,0.000,0.110,2354,2146,3806
$GC,522,-0.78,-78.2,23.7,-5.4,72,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2146,3806
$GC,712,-0.78,-78.2,33.7,-5.9,87,717,0.00,2.92,0.00,0.000,4,0.000,0.139,2353,732,3807
$GC,758,-0.78,-78.2,36.5,-6.1,90,762,0.00,2.78,0.00,0.000,6,0.000,0.095,2353,2159,3807
$GC,953,-0.78,-78.2,47.3,-5.4,105,957,0.00,2.85,0.00,0.000,4,0.000,0.122,2354,3567,3807
$GC,999,-0.78,-78.2,50.0,-5.9,108,1009,0.00,2.88,0.00,0.000,6,0.000,0.113,2354,2146,3808
$GC,1204,-0.78,-78.2,60.2,-5.2,124,1208,0.00,2.95,0.00,0.000,4,0.000,0.138,2353,729,3807
$GC,1278,-0.78,-78.2,64.0,-5.2,129,1282,0.00,2.80,0.00,0.000,6,0.000,0.095,2353,2174,3807
$GC,1473,-0.78,-78.2,74.7,-5.4,144,1477,0.00,2.80,0.00,0.000,4,0.000,0.120,2354,3561,3807
$GC,1551,-0.78,-78.2,79.2,-5.8,149,1558,0.00,2.85,0.00,0.000,6,0.000,0.114,2353,2152,3807
$GC,1747,-0.78,-78.2,88.9,-5.0,165,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2152,3807
$GC,1939,-0.78,-78.2,97.6,-4.1,180,1944,0.00,2.92,0.00,0.000,4,0.000,0.139,2353,740,3807
$STATE,1982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1982,begin apogee
$GC,1990,-0.31,0.0,100.1,5.5,183,2057,0.55,0.00,62.00,0.746,6,0.130,0.000,2458,2081,3483
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2058,begin climb
$GC,2061,0.78,78.2,102.1,0.0,189,2125,1.15,0.00,60.35,0.731,6,0.104,0.000,2693,2081,3165
$GC,2311,0.83,121.4,89.5,6.4,209,2351,0.00,3.03,32.97,0.727,4,0.000,0.122,2693,655,2987
$GC,2457,0.83,121.4,78.4,7.9,220,2465,0.00,2.72,0.00,0.000,6,0.000,0.076,2693,2087,2987
$GC,2654,0.85,144.9,64.6,6.9,236,2679,0.10,2.83,17.35,0.733,4,0.074,0.106,2719,3490,2892
$GC,2710,0.85,144.9,59.8,9.3,240,2718,0.00,2.80,0.00,0.000,6,0.000,0.087,2720,2064,2892
$GC,2907,0.85,144.9,42.5,9.1,256,2911,0.00,2.88,0.00,0.000,4,0.000,0.128,2719,659,2892
$GC,3011,0.85,144.9,32.4,9.9,263,3019,0.00,2.70,0.00,0.000,6,0.000,0.075,2719,2084,2892
$GC,3210,0.85,144.9,15.3,7.9,283,3217,0.00,2.78,0.00,0.000,4,0.000,0.108,2719,3491,2892
$GC,3275,0.85,144.9,9.9,8.0,293,3282,0.00,2.78,0.00,0.000,6,0.000,0.091,2719,2063,2892
$GC,3348,0.97,248.6,5.3,5.0,304,3361,0.00,0.00,11.18,0.713,2,0.000,0.000,2719,2064,2834
$STATE,3361,end climb,SURFACE_DEPTH_REACHED
$STATE,3361,begin surface coast
$FINISH,1.5,1.020242
$STATE,3485,end surface coast,CONTROL_FINISHED_OK
$STATE,3486,begin surface
$SM_CCo,3507,195.10,0.645,0,0,1240,550.21
$SM_GC,1.42,0.00,0.00,195.10,0.000,0.000,0.645,40,2178,1240,-11.45,0.51,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2097
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.9,24.213
$10V_AH,10.2,6.411
$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,27.875,62.650,183.850,195.100,0.000,32.579,40.244,94.723,2.500,0.000,0.000,35.743,623.110,1975.726,532.716,591.725,321.687,33.333,891.869,0.000,571.557,0.000,5.370
$DEVICE_MAMPS,197.119,148.031,745.524,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,214.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9579,325
$CFSIZE,260034560,252375040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,085729,4739.495,-12252.702,12,2.8,31,18.3