version: 66.02
glider: 22
mission: 2
dive: 172
start: 9 26 107 22 41 20
data:
$ID,22
$MISSION,2
$DIVE,172
$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,-112517.71
$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,9
$R_STBD_OVSHOOT,11
$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
$GPS1,223555,4739.442,-12253.043,41,1.8,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.2
$GPS2,223956,4739.611,-12253.167,14,1.7,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.182
$KALMAN_X,27477.5,22.9,28.2,-27757.8,-114.0
$KALMAN_Y,5716.1,-46.2,-98.0,-5719.7,-205.6
$MHEAD_RNG_PITCHd_Wd,113.0,271,-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,-67.80,0.000,2,0.000,0.000,37,2160,2724
$GC,96,-0.78,-78.2,2.0,-1.9,11,170,13.68,3.05,-52.35,0.000,4,0.198,0.150,2356,726,3801
$GC,230,-0.78,-78.2,7.4,-6.8,32,236,0.00,2.75,0.00,0.000,6,0.000,0.087,2356,2156,3801
$GC,302,-0.78,-78.2,11.8,-6.0,43,308,0.00,2.85,0.00,0.000,4,0.000,0.120,2356,3562,3802
$GC,361,-0.78,-78.2,15.1,-5.7,52,367,0.00,2.85,0.00,0.000,6,0.000,0.109,2356,2148,3802
$GC,433,-0.78,-78.2,18.2,-4.5,63,439,0.00,2.95,0.00,0.000,4,0.000,0.137,2356,732,3803
$GC,544,-0.78,-78.2,24.5,-5.4,74,551,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2162,3803
$GC,740,-0.78,-78.2,34.1,-4.9,90,744,0.00,2.83,0.00,0.000,4,0.000,0.120,2356,3563,3804
$GC,804,-0.78,-78.2,37.7,-5.3,94,811,0.00,2.90,0.00,0.000,6,0.000,0.110,2356,2140,3805
$GC,1000,-0.78,-78.2,48.2,-5.6,110,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2140,3805
$GC,1190,-0.78,-78.2,58.2,-5.3,125,1194,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,731,3805
$GC,1228,-0.78,-78.2,60.3,-5.7,127,1235,0.00,2.80,0.00,0.000,6,0.000,0.094,2356,2158,3805
$GC,1424,-0.78,-78.2,70.2,-4.8,143,1429,0.00,2.83,0.00,0.000,4,0.000,0.119,2356,3563,3805
$GC,1470,-0.78,-78.2,72.5,-4.7,146,1475,0.00,2.88,0.00,0.000,6,0.000,0.112,2356,2138,3805
$GC,1665,-0.78,-78.2,82.7,-5.6,161,1670,0.00,2.92,0.00,0.000,4,0.000,0.139,2356,730,3805
$GC,1718,-0.78,-78.2,85.8,-6.3,165,1722,0.00,2.78,0.00,0.000,6,0.000,0.096,2356,2159,3805
$GC,1913,-0.78,-78.2,96.1,-4.8,180,1917,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3568,3805
$GC,1964,-0.78,-78.2,98.6,-5.3,183,1972,0.00,2.90,0.00,0.000,6,0.000,0.112,2356,2149,3805
$STATE,1994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1995,begin apogee
$GC,2000,-0.31,0.0,100.0,4.6,186,2069,0.52,0.00,61.83,0.739,6,0.127,0.000,2457,2044,3484
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2070,begin climb
$GC,2072,0.78,78.2,100.9,0.0,192,2144,1.17,2.92,61.03,0.725,4,0.108,0.098,2694,3470,3163
$GC,2171,0.82,116.8,96.7,6.5,200,2208,0.00,2.78,29.23,0.719,6,0.000,0.084,2694,2041,3007
$GC,2396,0.82,116.8,80.7,7.5,218,2401,0.00,2.88,0.00,0.000,4,0.000,0.126,2693,631,3005
$GC,2455,0.82,116.8,75.8,8.3,222,2460,0.00,2.67,0.00,0.000,6,0.000,0.076,2694,2059,3005
$GC,2651,0.86,151.3,62.0,6.6,237,2680,0.12,0.00,26.25,0.718,6,0.075,0.000,2721,2059,2867
$GC,2864,0.86,151.3,44.5,8.4,254,2868,0.00,2.75,0.00,0.000,4,0.000,0.100,2721,3467,2866
$GC,2898,0.86,151.3,41.3,9.9,256,2903,0.00,2.75,0.00,0.000,6,0.000,0.087,2721,2047,2866
$GC,3093,0.86,151.3,24.2,8.4,271,3097,0.00,2.88,0.00,0.000,4,0.000,0.124,2721,630,2866
$GC,3117,0.86,151.3,21.8,9.2,272,3125,0.00,2.67,0.00,0.000,6,0.000,0.073,2721,2048,2865
$GC,3322,0.94,226.1,6.2,5.7,301,3348,0.00,0.00,23.45,0.692,2,0.000,0.000,2721,2048,2738
$STATE,3348,end climb,SURFACE_DEPTH_REACHED
$STATE,3348,begin surface coast
$FINISH,1.1,1.020761
$STATE,3439,end surface coast,CONTROL_FINISHED_OK
$STATE,3439,begin surface
$SM_CCo,3460,189.68,0.640,0,0,1240,550.21
$SM_GC,1.40,0.00,0.00,189.68,0.000,0.000,0.640,38,2164,1240,-11.46,0.40,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2091
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.9,23.511
$10V_AH,10.2,6.205
$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,27.875,68.550,201.775,189.675,0.000,32.580,31.881,82.376,1.750,0.000,0.000,31.579,614.401,1932.905,543.105,573.963,274.663,33.338,903.569,0.000,560.719,0.000,5.350
$DEVICE_MAMPS,197.886,150.332,739.388,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,210.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9599,319
$CFSIZE,260034560,252600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,234307,4739.327,-12252.942,8,1.6,24,18.3