version: 66.02
glider: 23
mission: 2
dive: 177
start: 9 27 107 3 34 31
data:
$ID,23
$MISSION,2
$DIVE,177
$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,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,350
$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,-28617.354
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$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,2000
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$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,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,032615,4739.452,-12252.771,9,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.4
$GPS2,033309,4739.460,-12252.763,10,1.9,10,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.225,-0.161
$KALMAN_X,11581.3,15.8,-125.7,-11238.2,72.9
$KALMAN_Y,7752.3,-166.6,-325.7,-7856.3,280.8
$MHEAD_RNG_PITCHd_Wd,107.2,451,-8.8,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-97.8,0.0,0.0,0,116,0.00,0.00,-91.53,0.000,2,0.000,0.000,365,2102,3765
$GC,119,-0.66,-97.8,2.3,-1.2,15,139,11.75,2.35,-2.97,0.000,4,0.150,0.061,2461,3412,3884
$GC,258,-0.66,-97.8,11.8,-3.5,36,264,0.00,2.40,0.00,0.000,6,0.000,0.033,2461,1998,3887
$GC,330,-0.66,-97.8,14.5,-4.0,47,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1999,3887
$GC,402,-0.66,-97.8,17.0,-3.4,58,408,0.00,2.47,0.00,0.000,4,0.000,0.047,2461,3415,3888
$GC,487,-0.66,-97.8,19.4,-2.7,71,494,0.00,2.40,0.00,0.000,6,0.000,0.034,2461,1999,3888
$GC,564,-0.66,-97.8,21.0,-2.1,79,568,0.00,2.88,0.00,0.000,4,0.000,0.052,2461,587,3889
$GC,654,-0.66,-97.8,23.9,-3.4,85,662,0.00,2.78,0.00,0.000,6,0.000,0.029,2461,1989,3889
$GC,851,-0.66,-97.8,30.4,-3.6,101,855,0.00,2.53,0.00,0.000,4,0.000,0.050,2461,3428,3890
$GC,955,-0.66,-97.8,34.6,-4.0,108,962,0.00,2.45,0.00,0.000,6,0.000,0.034,2461,2002,3889
$GC,1151,-0.66,-97.8,41.4,-3.5,124,1156,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,587,3889
$GC,1197,-0.66,-97.8,43.1,-3.7,127,1202,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,1999,3889
$GC,1392,-0.66,-97.8,49.6,-3.4,142,1397,0.00,2.47,0.00,0.000,4,0.000,0.050,2461,3421,3889
$GC,1438,-0.66,-97.8,51.2,-3.5,145,1443,0.00,2.42,0.00,0.000,6,0.000,0.035,2461,1998,3889
$GC,1633,-0.66,-97.8,58.1,-3.5,160,1638,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,587,3889
$GC,1666,-0.66,-97.8,59.3,-3.6,162,1670,0.00,2.75,0.00,0.000,6,0.000,0.029,2461,1999,3889
$GC,1861,-0.66,-97.8,66.4,-3.8,177,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1999,3889
$GC,2052,-0.66,-97.8,72.4,-3.1,192,2056,0.00,2.47,0.00,0.000,4,0.000,0.050,2461,3422,3889
$GC,2097,-0.66,-97.8,74.1,-3.7,195,2102,0.00,2.42,0.00,0.000,6,0.000,0.035,2461,1998,3889
$GC,2292,-0.66,-97.8,80.2,-3.1,210,2297,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,573,3889
$GC,2317,-0.66,-97.8,81.1,-3.6,211,2325,0.00,2.83,0.00,0.000,6,0.000,0.029,2461,1998,3889
$GC,2514,-0.66,-97.8,87.2,-2.9,227,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1997,3889
$GC,2704,-0.66,-97.8,92.6,-2.8,242,2708,0.00,2.12,0.00,0.000,3,0.000,0.048,2461,1003,3889
$STATE,2709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2715,-0.31,0.0,92.8,2.9,242,2794,0.38,0.00,75.88,0.742,6,0.087,0.000,2538,1661,3484
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.66,97.8,93.7,0.0,249,2879,1.02,2.67,74.18,0.721,4,0.069,0.043,2752,3060,3083
$GC,2906,0.78,206.5,89.0,5.3,258,2995,0.12,2.65,81.40,0.708,6,0.055,0.039,2782,1661,2642
$GC,3192,0.78,206.5,68.2,7.9,281,3197,0.00,2.83,0.00,0.000,4,0.000,0.066,2782,227,2642
$GC,3217,0.78,206.5,66.3,7.7,282,3225,0.00,2.60,0.00,0.000,6,0.000,0.027,2782,1651,2641
$GC,3413,0.79,216.8,52.4,7.2,298,3427,0.00,2.67,7.78,0.736,4,0.000,0.040,2782,3064,2598
$GC,3445,0.79,221.3,50.0,7.3,300,3454,0.00,2.72,3.17,0.761,6,0.000,0.043,2782,1653,2580
$GC,3642,0.82,242.7,36.4,7.0,316,3667,0.00,2.88,15.35,0.711,4,0.000,0.064,2783,226,2494
$GC,3692,0.82,242.7,32.7,7.7,320,3697,0.00,2.60,0.00,0.000,6,0.000,0.028,2782,1656,2494
$GC,3888,0.84,266.7,19.0,6.9,336,3913,0.00,0.00,18.10,0.693,6,0.000,0.000,2782,1658,2395
$GC,3980,0.89,313.4,13.1,6.5,350,4017,0.10,0.00,34.47,0.674,6,0.069,0.000,2805,1657,2205
$GC,4082,0.91,330.2,5.7,7.1,366,4096,0.00,0.00,11.45,0.688,2,0.000,0.000,2805,1657,2142
$STATE,4096,end climb,SURFACE_DEPTH_REACHED
$STATE,4097,begin surface coast
$FINISH,0.9,1.019997
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4181,begin surface
$SM_CCo,4201,14.23,0.703,0,0,2057,350.04
$SM_GC,0.84,0.00,0.00,14.23,0.000,0.000,0.703,367,2004,2057,-10.32,0.11,350.04
$IRIDIUM_FIX,4719.74,-12254.47,270907,060653
$TT8_MAMPS,0.026845
$HUMID,2151
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.3,36.3
$24V_AH,24.0,15.435
$10V_AH,10.2,6.145
$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,24.475,72.925,321.775,14.225,0.000,38.592,29.903,266.403,1.500,0.000,0.000,12.134,710.277,2379.908,447.268,670.562,464.766,33.332,866.760,0.000,658.197,0.000,8.373
$DEVICE_MAMPS,149.565,65.962,760.864,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,255.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,381
$CFSIZE,260034560,252985344
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,044607,4739.345,-12252.160,37,1.0,38,18.3