version: 66.02
glider: 23
mission: 2
dive: 182
start: 9 27 107 10 32 55
data:
$ID,23
$MISSION,2
$DIVE,182
$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,-28555.438
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,102350,4739.276,-12252.503,8,1.7,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.5
$GPS2,103133,4739.261,-12252.485,13,1.4,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,0.258
$KALMAN_X,11397.7,-59.6,55.1,-10814.8,-130.0
$KALMAN_Y,7116.6,-110.3,148.0,-8112.7,-229.2
$MHEAD_RNG_PITCHd_Wd,2.8,396,-8.8,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-97.8,0.0,0.0,0,89,0.00,0.00,-66.00,0.000,2,0.000,0.000,369,1998,3370
$GC,92,-0.66,-97.8,2.0,-2.9,11,130,11.70,2.92,-19.02,0.000,4,0.149,0.061,2461,585,3884
$GC,321,-0.66,-97.8,11.5,-3.2,46,328,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,1996,3887
$GC,393,-0.66,-97.8,12.8,-1.5,57,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1996,3886
$GC,466,-0.66,-97.8,14.7,-2.6,68,472,0.00,2.50,0.00,0.000,4,0.000,0.048,2461,3427,3887
$GC,537,-0.66,-97.8,16.5,-2.8,79,544,0.00,2.45,0.00,0.000,6,0.000,0.034,2461,1994,3887
$GC,609,-0.66,-97.8,18.5,-2.6,90,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1994,3887
$GC,681,-0.66,-97.8,20.5,-2.6,100,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1994,3887
$GC,871,-0.66,-97.8,26.2,-3.2,115,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1994,3888
$GC,1061,-0.66,-97.8,32.7,-3.7,130,1065,0.00,2.88,0.00,0.000,4,0.000,0.054,2461,585,3888
$GC,1093,-0.66,-97.8,34.0,-4.0,132,1097,0.00,2.78,0.00,0.000,6,0.000,0.029,2461,1999,3888
$GC,1288,-0.66,-97.8,40.5,-2.6,147,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1999,3888
$GC,1479,-0.66,-97.8,46.0,-2.9,162,1483,0.00,2.47,0.00,0.000,4,0.000,0.051,2461,3422,3888
$GC,1511,-0.66,-97.8,47.2,-3.5,164,1515,0.00,2.42,0.00,0.000,6,0.000,0.035,2461,1998,3888
$GC,1706,-0.66,-97.8,53.1,-3.3,179,1711,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,586,3888
$GC,1731,-0.66,-97.8,53.9,-3.1,180,1738,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,1995,3888
$GC,1927,-0.66,-97.8,59.9,-2.9,196,1931,0.00,2.50,0.00,0.000,4,0.000,0.051,2461,3427,3888
$GC,1987,-0.66,-97.8,62.1,-3.7,200,1991,0.00,2.45,0.00,0.000,6,0.000,0.035,2461,1995,3888
$GC,2182,-0.66,-97.8,68.9,-3.6,215,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1995,3888
$GC,2372,-0.66,-97.8,75.6,-3.4,230,2377,0.00,2.90,0.00,0.000,4,0.000,0.054,2461,584,3888
$GC,2410,-0.66,-97.8,77.2,-4.0,232,2417,0.00,2.80,0.00,0.000,6,0.000,0.029,2461,1996,3888
$GC,2606,-0.66,-97.8,83.5,-3.2,248,2611,0.00,2.92,0.00,0.000,4,0.000,0.052,2462,572,3888
$GC,2644,-0.66,-97.8,84.8,-3.6,250,2653,0.00,2.83,0.00,0.000,6,0.000,0.029,2461,1995,3888
$GC,2841,-0.66,-97.8,91.4,-2.6,266,2845,0.00,2.47,0.00,0.000,4,0.000,0.051,2461,3417,3888
$GC,2918,-0.66,-97.8,94.1,-4.0,271,2926,0.00,2.45,0.00,0.000,6,0.000,0.036,2461,1995,3888
$STATE,3012,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3012,begin apogee
$GC,3018,-0.31,0.0,97.3,3.5,279,3099,0.40,0.00,75.60,0.758,6,0.088,0.000,2541,1543,3483
$STATE,3100,end apogee,CONTROL_FINISHED_OK
$STATE,3100,begin climb
$GC,3102,0.66,97.8,98.3,0.0,286,3187,0.98,2.85,73.68,0.736,4,0.070,0.042,2749,2978,3084
$GC,3218,0.78,214.4,93.2,5.2,295,3312,0.10,2.78,87.28,0.722,6,0.042,0.041,2780,1555,2609
$GC,3501,0.80,224.3,74.8,7.2,318,3514,0.00,2.72,7.18,0.754,4,0.000,0.040,2780,2976,2568
$GC,3554,0.84,266.0,71.3,6.6,322,3591,0.00,2.78,30.98,0.726,6,0.000,0.046,2780,1550,2398
$GC,3779,0.90,323.2,56.4,6.3,340,3829,0.12,2.70,42.15,0.704,4,0.056,0.071,2814,205,2166
$GC,3847,0.90,323.2,50.4,9.7,345,3855,0.00,2.50,0.00,0.000,6,0.000,0.028,2814,1582,2165
$GC,4043,0.90,323.2,32.3,8.9,361,4047,0.00,2.70,0.00,0.000,4,0.000,0.067,2813,203,2166
$GC,4083,0.90,323.2,28.4,10.1,364,4087,0.00,2.35,0.00,0.000,6,0.000,0.028,2814,1529,2166
$GC,4283,0.90,323.2,10.9,8.3,387,4289,0.00,2.70,0.00,0.000,4,0.000,0.038,2814,2955,2166
$GC,4308,0.90,323.2,8.7,8.7,391,4315,0.00,2.75,0.00,0.000,6,0.000,0.048,2813,1544,2166
$STATE,4359,end climb,SURFACE_DEPTH_REACHED
$STATE,4359,begin surface coast
$FINISH,1.0,1.020567
$STATE,4439,end surface coast,CONTROL_FINISHED_OK
$STATE,4439,begin surface
$SM_CCo,4460,17.23,0.719,1,0,2057,350.04
$SM_GC,1.35,0.00,0.00,17.23,0.000,0.000,0.719,370,1998,2057,-10.30,-0.03,350.04
$IRIDIUM_FIX,4722.92,-12321.92,270907,141423
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.0,36.7
$24V_AH,24.0,15.858
$10V_AH,10.2,6.298
$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,24.425,76.975,316.850,17.225,0.000,79.439,139.116,101.952,1.500,0.000,0.000,14.617,763.623,2603.429,453.983,719.409,448.805,33.332,896.854,0.000,703.909,0.000,5.554
$DEVICE_MAMPS,148.798,70.564,757.796,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,276.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12712,411
$CFSIZE,260034560,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270907,114901,4739.568,-12252.314,40,1.1,41,18.3