version: 66.02
glider: 22
mission: 2
dive: 173
start: 9 26 107 23 48 53
data:
$ID,22
$MISSION,2
$DIVE,173
$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,-112551.94
$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,7
$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
$GPS1,234307,4739.327,-12252.942,8,1.6,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.1
$GPS2,234729,4739.314,-12252.961,13,2.5,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.150,0.232
$KALMAN_X,27368.6,-25.7,-88.3,-27221.0,-61.5
$KALMAN_Y,5752.4,-63.7,-197.8,-6193.0,-90.1
$MHEAD_RNG_PITCHd_Wd,308.8,413,-11.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.78,-78.2,0.0,0.0,0,100,0.00,0.00,-74.03,0.000,2,0.000,0.000,39,2165,2859
$GC,102,-0.78,-78.2,2.1,-1.6,12,169,13.65,2.88,-44.62,0.000,4,0.198,0.128,2353,3562,3804
$GC,215,-0.78,-78.2,6.7,-7.8,30,222,0.00,2.85,0.00,0.000,6,0.000,0.105,2353,2140,3805
$GC,287,-0.78,-78.2,11.2,-5.9,41,293,0.00,2.95,0.00,0.000,4,0.000,0.138,2353,729,3805
$GC,339,-0.78,-78.2,14.6,-6.1,49,346,0.00,2.78,0.00,0.000,6,0.000,0.091,2353,2163,3805
$GC,411,-0.78,-78.2,19.1,-6.0,60,418,0.00,2.85,0.00,0.000,4,0.000,0.122,2353,3565,3806
$GC,503,-0.78,-78.2,22.5,-3.1,69,508,0.00,2.88,0.00,0.000,6,0.000,0.110,2353,2142,3806
$GC,698,-0.78,-78.2,28.8,-3.8,84,703,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,725,3807
$GC,764,-0.78,-78.2,31.6,-4.7,89,769,0.00,2.78,0.00,0.000,6,0.000,0.094,2353,2154,3807
$GC,959,-0.78,-78.2,40.1,-4.6,104,964,0.00,2.85,0.00,0.000,4,0.000,0.119,2353,3570,3807
$GC,1018,-0.78,-78.2,43.2,-5.2,108,1023,0.00,2.88,0.00,0.000,6,0.000,0.111,2353,2146,3807
$GC,1213,-0.78,-78.2,52.3,-4.4,123,1218,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,731,3807
$GC,1238,-0.78,-78.2,53.4,-4.5,124,1246,0.00,2.80,0.00,0.000,6,0.000,0.096,2353,2154,3807
$GC,1435,-0.78,-78.2,61.9,-4.2,140,1439,0.00,2.83,0.00,0.000,4,0.000,0.119,2353,3565,3807
$GC,1480,-0.78,-78.2,64.2,-5.2,143,1487,0.00,2.88,0.00,0.000,6,0.000,0.112,2353,2143,3807
$GC,1676,-0.78,-78.2,73.7,-4.8,159,1680,0.00,2.95,0.00,0.000,4,0.000,0.138,2353,725,3807
$GC,1754,-0.78,-78.2,77.8,-5.0,164,1761,0.00,2.78,0.00,0.000,6,0.000,0.095,2353,2158,3807
$GC,1950,-0.78,-78.2,87.7,-5.0,180,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,3807
$GC,2143,-0.78,-78.2,96.3,-4.7,195,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,3807
$STATE,2225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2225,begin apogee
$GC,2230,-0.31,0.0,100.2,4.6,202,2300,0.55,0.00,62.42,0.746,6,0.127,0.000,2459,2042,3484
$STATE,2301,end apogee,CONTROL_FINISHED_OK
$STATE,2301,begin climb
$GC,2303,0.78,78.2,101.4,0.0,208,2372,1.17,0.00,61.15,0.727,6,0.103,0.000,2696,2039,3165
$GC,2561,0.85,139.6,88.0,6.0,229,2614,0.00,2.92,47.25,0.723,4,0.000,0.120,2695,630,2913
$GC,2686,0.85,139.6,78.3,8.2,238,2694,0.00,2.70,0.00,0.000,6,0.000,0.074,2696,2052,2913
$GC,2883,0.85,139.6,63.2,7.8,254,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2052,2913
$GC,3073,0.85,139.6,48.7,7.6,269,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2051,2912
$GC,3265,0.85,145.1,34.5,7.3,284,3277,0.00,2.95,3.35,0.763,4,0.000,0.124,2695,633,2892
$GC,3303,0.85,145.1,31.2,7.9,287,3307,0.00,2.67,0.00,0.000,6,0.000,0.076,2696,2058,2892
$GC,3500,0.87,159.7,17.4,7.1,305,3518,0.12,0.00,11.40,0.723,6,0.073,0.000,2723,2058,2832
$GC,3585,0.87,159.7,11.3,7.9,318,3591,0.00,2.78,0.00,0.000,4,0.000,0.107,2724,3463,2832
$STATE,3669,end climb,SURFACE_DEPTH_REACHED
$STATE,3669,begin surface coast
$FINISH,1.2,1.020244
$STATE,3768,end surface coast,CONTROL_FINISHED_OK
$STATE,3768,begin surface
$SM_CCo,3791,207.32,0.644,0,0,1240,550.21
$SM_GC,1.41,0.00,0.00,207.32,0.000,0.000,0.644,39,2130,1240,-11.46,-0.57,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2115
$TCM_TEMP,19.80
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.9,23.598
$10V_AH,10.2,6.231
$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,27.900,62.675,185.575,207.325,0.000,32.601,35.673,95.417,5.250,0.000,0.000,33.598,654.683,2200.387,557.917,600.635,295.066,33.339,917.282,0.000,583.562,0.000,6.324
$DEVICE_MAMPS,197.886,138.827,763.165,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,228.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,346
$CFSIZE,260034560,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,005637,4739.565,-12253.295,15,1.6,31,18.3