version: 66.02
glider: 22
mission: 2
dive: 175
start: 9 27 107 2 12 1
data:
$ID,22
$MISSION,2
$DIVE,175
$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,-112596.98
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$R_STBD_OVSHOOT,12
$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
$GPS1,020329,4739.393,-12252.914,11,4.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.7
$GPS2,021037,4739.420,-12252.930,15,1.2,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.276,-0.013
$KALMAN_X,27356.8,-46.4,-179.5,-27061.3,-16.0
$KALMAN_Y,5817.6,-75.5,-217.0,-6032.6,105.3
$MHEAD_RNG_PITCHd_Wd,249.1,350,-11.1,-7.407
$D_GRID,116
$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,-67.88,0.000,2,0.000,0.000,36,2162,2749
$GC,96,-0.78,-78.2,2.3,-2.6,11,169,13.62,3.05,-49.67,0.000,4,0.197,0.144,2353,731,3802
$GC,256,-0.78,-78.2,7.9,-4.6,36,263,0.00,2.75,0.00,0.000,6,0.000,0.091,2353,2156,3804
$GC,328,-0.78,-78.2,11.3,-5.1,47,335,0.00,2.85,0.00,0.000,4,0.000,0.119,2353,3564,3805
$GC,380,-0.78,-78.2,14.0,-5.5,55,387,0.00,2.88,0.00,0.000,6,0.000,0.109,2353,2136,3806
$GC,453,-0.78,-78.2,17.8,-5.3,66,459,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,728,3806
$GC,531,-0.78,-78.2,22.4,-5.7,75,536,0.00,2.78,0.00,0.000,6,0.000,0.094,2353,2159,3806
$GC,727,-0.78,-78.2,31.8,-4.6,90,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2159,3806
$GC,917,-0.78,-78.2,40.9,-5.2,105,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2159,3807
$GC,1109,-0.78,-78.2,50.3,-4.9,120,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2159,3807
$GC,1295,-0.78,-78.2,59.1,-4.8,135,1300,0.00,2.83,0.00,0.000,4,0.000,0.117,2353,3575,3807
$GC,1320,-0.78,-78.2,60.5,-5.0,136,1327,0.00,2.92,0.00,0.000,6,0.000,0.114,2353,2128,3807
$GC,1516,-0.78,-78.2,69.8,-5.1,152,1521,0.00,2.92,0.00,0.000,4,0.000,0.138,2353,723,3807
$GC,1589,-0.78,-78.2,73.5,-5.5,157,1593,0.00,2.78,0.00,0.000,6,0.000,0.094,2353,2153,3807
$GC,1784,-0.78,-78.2,81.9,-4.1,172,1788,0.00,2.83,0.00,0.000,4,0.000,0.118,2353,3564,3807
$GC,1830,-0.78,-78.2,83.9,-4.3,175,1835,0.00,2.88,0.00,0.000,6,0.000,0.114,2353,2145,3807
$GC,2025,-0.78,-78.2,91.6,-3.8,190,2029,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,723,3807
$GC,2070,-0.78,-78.2,93.6,-4.3,193,2077,0.00,2.78,0.00,0.000,6,0.000,0.094,2353,2158,3807
$STATE,2227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2227,begin apogee
$GC,2232,-0.31,0.0,100.2,4.1,206,2301,0.55,0.00,62.38,0.745,6,0.127,0.000,2459,2045,3484
$STATE,2302,end apogee,CONTROL_FINISHED_OK
$STATE,2302,begin climb
$GC,2304,0.78,78.2,100.9,0.0,212,2377,1.15,2.90,60.97,0.726,4,0.104,0.120,2694,629,3164
$GC,2429,0.83,125.3,95.1,6.3,222,2470,0.00,2.70,36.08,0.722,6,0.000,0.074,2694,2047,2973
$GC,2661,0.83,125.3,77.5,7.7,240,2665,0.00,2.83,0.00,0.000,4,0.000,0.107,2694,3471,2972
$GC,2699,0.83,125.3,74.2,9.1,242,2706,0.00,2.80,0.00,0.000,6,0.000,0.089,2694,2047,2972
$GC,2895,0.83,125.3,59.6,7.4,258,2899,0.00,2.90,0.00,0.000,4,0.000,0.127,2693,630,2971
$GC,2969,0.83,125.3,53.9,8.4,263,2973,0.00,2.67,0.00,0.000,6,0.000,0.075,2693,2059,2971
$GC,3164,0.89,177.3,40.0,6.2,278,3205,0.15,0.00,39.12,0.703,6,0.071,0.000,2725,2058,2761
$GC,3389,0.89,177.3,20.6,8.9,296,3393,0.00,2.95,0.00,0.000,4,0.000,0.123,2725,625,2760
$GC,3488,0.89,177.3,11.4,10.3,309,3494,0.00,2.67,0.00,0.000,6,0.000,0.074,2725,2061,2760
$GC,3559,0.89,177.3,5.7,8.0,320,3566,0.00,2.78,0.00,0.000,4,0.000,0.110,2725,3461,2760
$STATE,3576,end climb,SURFACE_DEPTH_REACHED
$STATE,3577,begin surface coast
$FINISH,1.7,1.020248
$STATE,3657,end surface coast,CONTROL_FINISHED_OK
$STATE,3657,begin surface
$SM_CCo,3680,195.12,0.640,0,0,1241,550.21
$SM_GC,1.49,0.00,0.00,195.12,0.000,0.000,0.640,37,2127,1241,-11.46,-0.65,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2080
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.3,8.0
$24V_AH,23.9,23.776
$10V_AH,10.2,6.284
$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,27.925,68.200,198.550,195.125,0.000,65.196,121.495,86.399,3.000,0.000,0.000,31.244,639.475,2171.559,546.321,589.376,404.624,33.341,906.864,0.000,572.387,0.000,5.352
$DEVICE_MAMPS,197.119,144.196,744.757,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,221.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9564,335
$CFSIZE,260034560,252510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,031721,4739.465,-12253.304,11,1.8,11,18.3