version: 66.02
glider: 22
mission: 2
dive: 181
start: 9 27 107 9 7 28
data:
$ID,22
$MISSION,2
$DIVE,181
$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,-112769.23
$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,16
$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
$GPS1,085729,4739.495,-12252.702,12,2.8,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.1
$GPS2,090605,4739.484,-12252.704,13,2.8,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.271,0.057
$KALMAN_X,27147.3,-62.8,103.8,-26836.1,-71.5
$KALMAN_Y,5489.5,-40.7,142.0,-5969.9,-132.0
$MHEAD_RNG_PITCHd_Wd,59.8,379,-11.1,-7.407
$D_GRID,124
$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,-73.90,0.000,2,0.000,0.000,40,2179,2856
$GC,103,-0.78,-78.2,2.3,-2.7,12,171,13.50,2.83,-46.92,0.000,4,0.194,0.130,2353,3567,3804
$GC,403,-0.78,-78.2,18.3,-5.6,58,410,0.00,2.85,0.00,0.000,6,0.000,0.110,2353,2151,3806
$GC,473,-0.78,-78.2,22.3,-5.5,66,477,0.00,2.95,0.00,0.000,4,0.000,0.139,2352,738,3806
$GC,526,-0.78,-78.2,25.2,-5.7,70,530,0.00,2.75,0.00,0.000,6,0.000,0.093,2353,2158,3806
$GC,721,-0.78,-78.2,34.5,-5.1,85,725,0.00,2.85,0.00,0.000,4,0.000,0.120,2353,3573,3806
$GC,759,-0.78,-78.2,36.7,-5.9,87,766,0.00,2.90,0.00,0.000,6,0.000,0.111,2353,2155,3807
$GC,955,-0.78,-78.2,46.8,-4.9,103,960,0.00,2.95,0.00,0.000,4,0.000,0.139,2352,737,3807
$GC,1033,-0.78,-78.2,50.9,-5.1,108,1040,0.00,2.80,0.00,0.000,6,0.000,0.096,2353,2166,3807
$GC,1229,-0.78,-78.2,60.6,-4.8,124,1233,0.00,2.85,0.00,0.000,4,0.000,0.122,2353,3573,3807
$GC,1295,-0.78,-78.2,64.1,-5.4,129,1299,0.00,2.88,0.00,0.000,6,0.000,0.114,2353,2155,3807
$GC,1490,-0.78,-78.2,74.4,-5.5,144,1494,0.00,2.95,0.00,0.000,4,0.000,0.139,2352,734,3807
$GC,1549,-0.78,-78.2,77.7,-6.0,148,1554,0.00,2.80,0.00,0.000,6,0.000,0.097,2353,2177,3807
$GC,1744,-0.78,-78.2,88.8,-5.7,163,1749,0.00,2.80,0.00,0.000,4,0.000,0.120,2353,3566,3807
$GC,1777,-0.78,-78.2,90.9,-6.8,165,1782,0.00,2.88,0.00,0.000,6,0.000,0.116,2353,2151,3807
$STATE,1932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1933,begin apogee
$GC,1938,-0.31,0.0,100.5,5.8,177,2007,0.55,0.00,62.08,0.749,6,0.136,0.000,2456,2068,3483
$STATE,2008,end apogee,CONTROL_FINISHED_OK
$STATE,2008,begin climb
$GC,2010,0.78,78.2,102.5,0.0,183,2078,1.17,2.88,60.53,0.730,4,0.106,0.101,2694,3492,3164
$GC,2130,0.86,148.9,97.8,5.8,192,2192,0.10,2.75,53.83,0.726,6,0.078,0.086,2721,2069,2877
$GC,2380,0.86,148.9,76.9,8.8,212,2385,0.00,2.90,0.00,0.000,4,0.000,0.129,2720,656,2876
$GC,2472,0.86,148.9,68.5,9.0,218,2479,0.00,2.67,0.00,0.000,6,0.000,0.076,2721,2081,2876
$GC,2667,0.86,148.9,51.1,9.4,234,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2081,2876
$GC,2858,0.86,148.9,33.8,8.5,249,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2081,2875
$GC,3047,0.86,148.9,16.6,9.6,266,3054,0.00,2.92,0.00,0.000,4,0.000,0.122,2720,649,2875
$GC,3119,0.86,148.9,10.3,8.3,277,3126,0.00,2.67,0.00,0.000,6,0.000,0.075,2721,2082,2875
$GC,3191,0.99,267.5,6.3,4.7,288,3223,0.10,0.00,29.25,0.693,2,0.084,0.000,2746,2082,2717
$STATE,3224,end climb,SURFACE_DEPTH_REACHED
$STATE,3224,begin surface coast
$FINISH,0.6,1.001267
$STATE,3328,end surface coast,CONTROL_FINISHED_OK
$STATE,3328,begin surface
$SM_CCo,3349,190.52,0.646,0,0,1240,550.21
$SM_GC,1.42,0.00,0.00,190.52,0.000,0.000,0.646,37,2170,1240,-11.47,0.28,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2087
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.9,24.310
$10V_AH,10.2,6.439
$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,27.800,57.175,205.675,190.525,0.000,65.181,83.582,195.249,2.000,0.000,0.000,33.730,587.406,1943.409,527.034,560.927,483.176,33.335,871.536,0.000,542.662,0.000,5.355
$DEVICE_MAMPS,194.051,146.497,749.359,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,309
$CFSIZE,260034560,252346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,100735,4739.390,-12252.377,14,2.2,33,18.3