version: 66.02
glider: 23
mission: 2
dive: 179
start: 9 27 107 6 22 12
data:
$ID,23
$MISSION,2
$DIVE,179
$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,100
$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,-28585.258
$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,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,25
$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
$GPS1,061232,4739.341,-12252.583,7,1.2,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.9
$GPS2,062050,4739.358,-12252.600,10,1.4,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.270,0.058
$KALMAN_X,11707.6,11.8,35.3,-11322.9,49.8
$KALMAN_Y,7694.4,-103.6,113.7,-8487.6,157.1
$MHEAD_RNG_PITCHd_Wd,59.7,319,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.66,-97.8,0.0,0.0,0,102,0.00,0.00,-79.78,0.000,2,0.000,0.000,368,1982,3626
$GC,105,-0.66,-97.8,2.1,-1.2,13,131,11.73,2.58,-7.70,0.000,4,0.149,0.057,2464,3413,3885
$GC,382,-0.66,-97.8,14.3,-3.2,55,389,0.00,2.42,0.00,0.000,6,0.000,0.032,2464,1992,3887
$GC,454,-0.66,-97.8,16.5,-2.7,66,461,0.00,2.50,0.00,0.000,4,0.000,0.046,2464,3420,3887
$GC,592,-0.66,-97.8,21.2,-3.0,84,599,0.00,2.42,0.00,0.000,6,0.000,0.033,2464,1997,3888
$GC,788,-0.66,-97.8,26.7,-3.0,100,792,0.00,2.90,0.00,0.000,4,0.000,0.053,2464,572,3888
$GC,833,-0.66,-97.8,28.4,-3.8,103,838,0.00,2.78,0.00,0.000,6,0.000,0.030,2464,1994,3888
$GC,1029,-0.66,-97.8,35.1,-3.5,118,1033,0.00,2.50,0.00,0.000,4,0.000,0.049,2464,3426,3889
$GC,1100,-0.66,-97.8,37.9,-3.8,123,1107,0.00,2.47,0.00,0.000,6,0.000,0.035,2464,1999,3889
$GC,1296,-0.66,-97.8,44.3,-3.1,139,1301,0.00,2.90,0.00,0.000,4,0.000,0.053,2464,571,3888
$GC,1334,-0.66,-97.8,45.6,-3.5,141,1341,0.00,2.83,0.00,0.000,6,0.000,0.030,2463,2000,3889
$GC,1531,-0.66,-97.8,51.6,-2.7,157,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1999,3889
$GC,1721,-0.66,-97.8,58.2,-3.7,172,1725,0.00,2.50,0.00,0.000,4,0.000,0.051,2464,3427,3889
$GC,1746,-0.66,-97.8,59.2,-3.7,173,1753,0.00,2.47,0.00,0.000,6,0.000,0.035,2464,2000,3889
$GC,1942,-0.66,-97.8,65.3,-3.1,189,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2000,3889
$GC,2133,-0.66,-97.8,71.4,-3.5,204,2137,0.00,2.90,0.00,0.000,4,0.000,0.054,2464,575,3889
$GC,2170,-0.66,-97.8,73.0,-4.2,206,2178,0.00,2.80,0.00,0.000,6,0.000,0.029,2464,1996,3889
$GC,2367,-0.66,-97.8,78.9,-3.2,222,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1996,3889
$GC,2559,-0.66,-97.8,84.9,-3.3,237,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1996,3889
$GC,2745,-0.66,-97.8,90.5,-2.9,252,2749,0.00,2.50,0.00,0.000,4,0.000,0.051,2464,3423,3889
$GC,2850,-0.66,-97.8,93.8,-3.2,259,2857,0.00,2.45,0.00,0.000,6,0.000,0.035,2464,1999,3888
$STATE,3006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3007,begin apogee
$GC,3013,-0.31,0.0,98.2,3.0,272,3093,0.38,0.00,75.62,0.755,6,0.086,0.000,2539,1537,3484
$STATE,3094,end apogee,CONTROL_FINISHED_OK
$STATE,3094,begin climb
$GC,3096,0.66,97.8,99.2,0.0,279,3182,0.98,2.88,73.88,0.732,4,0.068,0.041,2746,2982,3084
$GC,3247,0.80,224.0,92.6,5.0,291,3349,0.17,2.78,94.40,0.719,6,0.051,0.042,2789,1546,2570
$GC,3545,0.80,224.0,71.1,7.7,315,3550,0.00,2.72,0.00,0.000,4,0.000,0.038,2789,2973,2569
$GC,3591,0.80,224.0,67.5,7.9,318,3596,0.00,2.75,0.00,0.000,6,0.000,0.045,2789,1550,2569
$GC,3786,0.80,224.0,52.7,7.7,333,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1550,2569
$GC,3977,0.80,224.0,37.8,7.8,348,3981,0.00,2.70,0.00,0.000,4,0.000,0.039,2789,2971,2569
$GC,4014,0.80,224.0,34.8,7.7,350,4022,0.00,2.80,0.00,0.000,6,0.000,0.045,2789,1540,2568
$GC,4211,0.81,234.2,20.7,7.2,366,4223,0.00,0.00,7.25,0.729,6,0.000,0.000,2789,1540,2527
$GC,4421,0.90,316.3,6.0,5.8,397,4447,0.00,0.00,23.23,0.691,2,0.000,0.000,2789,1540,2401
$STATE,4447,end climb,SURFACE_DEPTH_REACHED
$STATE,4447,begin surface coast
$FINISH,0.6,1.020206
$STATE,4553,end surface coast,CONTROL_FINISHED_OK
$STATE,4553,begin surface
$SM_CCo,4573,46.97,0.685,0,0,2056,350.04
$SM_GC,1.17,0.00,0.00,46.97,0.000,0.000,0.685,365,2009,2056,-10.33,0.25,350.04
$IRIDIUM_FIX,4722.92,-12240.28,270907,101010
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.2,36.2
$24V_AH,24.0,15.612
$10V_AH,10.2,6.208
$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,24.150,60.525,274.375,46.975,0.000,76.841,75.964,191.063,1.250,0.000,0.000,16.746,769.001,2759.100,428.563,728.302,475.844,33.327,854.690,0.000,711.399,0.000,5.547
$DEVICE_MAMPS,148.798,56.758,754.728,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,281.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12738,417
$CFSIZE,260034560,252911616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,074023,4739.453,-12252.144,7,3.2,27,18.3