version: 66.02
glider: 23
mission: 2
dive: 176
start: 9 27 107 2 16 51
data:
$ID,23
$MISSION,2
$DIVE,176
$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,-28634.768
$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,2100
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,33
$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
$GPS1,021125,4739.409,-12253.305,29,1.6,47,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.2
$GPS2,021527,4739.429,-12253.307,11,1.6,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.286,-0.017
$KALMAN_X,11613.8,59.0,-131.7,-11991.8,17.6
$KALMAN_Y,7704.7,-148.2,-406.2,-7810.9,101.1
$MHEAD_RNG_PITCHd_Wd,75.2,1131,-8.2,-7.407
$D_GRID,119
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.62,-97.8,0.0,0.0,0,71,0.00,0.00,-49.12,0.000,2,0.000,0.000,367,2108,3089
$GC,74,-0.62,-97.8,2.0,-3.5,8,129,11.73,2.50,-33.60,0.000,4,0.147,0.061,2470,3508,3885
$GC,215,-0.62,-97.8,7.6,-3.9,30,221,0.00,2.40,0.00,0.000,6,0.000,0.032,2470,2089,3886
$GC,287,-0.62,-97.8,9.6,-2.7,41,293,0.00,2.88,0.00,0.000,4,0.000,0.050,2470,685,3886
$GC,359,-0.62,-97.8,11.9,-3.7,52,365,0.00,2.80,0.00,0.000,6,0.000,0.030,2470,2098,3886
$GC,431,-0.62,-97.8,14.6,-3.7,63,437,0.00,2.42,0.00,0.000,4,0.000,0.049,2470,3500,3887
$GC,483,-0.62,-97.8,16.8,-4.1,71,489,0.00,2.38,0.00,0.000,6,0.000,0.032,2470,2091,3887
$GC,555,-0.62,-97.8,18.8,-2.8,82,561,0.00,2.47,0.00,0.000,4,0.000,0.048,2470,3511,3887
$GC,589,-0.62,-97.8,19.7,-2.8,87,595,0.00,2.40,0.00,0.000,6,0.000,0.033,2470,2090,3887
$GC,658,-0.62,-97.8,21.4,-2.4,94,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2090,3887
$GC,849,-0.62,-97.8,26.0,-2.5,109,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2090,3888
$GC,1038,-0.62,-97.8,31.6,-3.1,124,1042,0.00,2.88,0.00,0.000,4,0.000,0.052,2470,687,3888
$GC,1083,-0.62,-97.8,33.0,-3.1,127,1088,0.00,2.80,0.00,0.000,6,0.000,0.030,2470,2104,3888
$GC,1279,-0.62,-97.8,37.9,-2.6,142,1283,0.00,2.42,0.00,0.000,4,0.000,0.051,2470,3500,3888
$GC,1311,-0.62,-97.8,38.9,-3.2,144,1315,0.00,2.38,0.00,0.000,6,0.000,0.033,2470,2086,3888
$GC,1513,-0.62,-97.8,44.7,-2.8,160,1518,0.00,2.88,0.00,0.000,4,0.000,0.052,2470,687,3888
$GC,1551,-0.62,-97.8,45.9,-3.4,162,1559,0.00,2.83,0.00,0.000,6,0.000,0.030,2470,2105,3888
$GC,1747,-0.62,-97.8,51.7,-3.0,178,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2105,3888
$GC,1939,-0.62,-97.8,57.2,-2.8,193,1944,0.00,2.90,0.00,0.000,4,0.000,0.051,2470,695,3888
$GC,1998,-0.62,-97.8,59.1,-3.2,197,2003,0.00,2.80,0.00,0.000,6,0.000,0.031,2470,2109,3888
$GC,2193,-0.62,-97.8,64.6,-2.6,212,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2109,3888
$GC,2386,-0.62,-97.8,69.4,-2.5,227,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2109,3888
$GC,2574,-0.62,-97.8,74.5,-2.8,242,2578,0.00,2.92,0.00,0.000,4,0.000,0.051,2470,686,3888
$GC,2619,-0.62,-97.8,75.8,-3.1,245,2624,0.00,2.80,0.00,0.000,6,0.000,0.031,2470,2105,3888
$STATE,2711,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2711,begin apogee
$GC,2717,-0.31,0.0,78.6,2.8,252,2798,0.35,0.00,75.75,0.732,6,0.079,0.000,2542,1740,3484
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2801,0.62,97.8,79.2,0.0,259,2887,0.95,2.72,73.82,0.710,4,0.068,0.044,2743,3153,3084
$GC,2918,0.77,233.3,74.0,5.0,268,3028,0.12,2.62,101.78,0.696,6,0.044,0.038,2779,1757,2532
$GC,3225,0.79,257.3,53.7,7.0,293,3250,0.00,2.90,17.58,0.703,4,0.000,0.064,2779,336,2435
$GC,3317,0.81,272.7,47.2,7.1,300,3334,0.00,2.67,11.65,0.710,6,0.000,0.028,2779,1773,2372
$GC,3524,0.83,291.1,33.3,7.1,316,3543,0.00,2.90,13.30,0.701,4,0.000,0.062,2779,341,2296
$GC,3587,0.85,306.4,28.7,7.1,320,3607,0.00,2.65,11.15,0.703,6,0.000,0.028,2779,1745,2234
$GC,3799,0.96,409.6,15.6,5.6,342,3886,0.17,2.90,77.53,0.660,4,0.063,0.064,2817,335,1813
$STATE,3943,end climb,SURFACE_DEPTH_REACHED
$STATE,3943,begin surface coast
$FINISH,0.3,1.009604
$STATE,4031,end surface coast,CONTROL_FINISHED_OK
$STATE,4031,begin surface
$SM_CCo,4114,0.00,0.000,0,0,1812,410.14
$SM_GC,1.01,11.10,0.00,0.00,0.038,0.000,0.000,365,2101,1812,-10.27,0.08,410.14
$IRIDIUM_FIX,4722.92,-12251.79,270907,040416
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.70
$XPDR_PINGS,5
$24V_AH,24.0,15.348
$10V_AH,10.2,6.116
$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,24.425,71.425,382.550,0.000,0.000,35.501,32.334,96.749,1.750,0.000,0.000,12.777,689.798,2298.228,466.501,660.632,284.154,33.338,887.892,0.000,648.440,0.000,3.971
$DEVICE_MAMPS,147.264,64.428,732.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,253.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9584,378
$CFSIZE,260034560,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,032615,4739.452,-12252.771,9,1.1,10,18.3