version: 66.02
glider: 22
mission: 2
dive: 183
start: 9 27 107 11 28 10
data:
$ID,22
$MISSION,2
$DIVE,183
$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,-112815.98
$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,2160
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$R_STBD_OVSHOOT,14
$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
$GPS1,112247,4739.432,-12252.892,10,3.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.7
$GPS2,112646,4739.428,-12252.895,10,3.0,29,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,0.183
$KALMAN_X,27007.4,-92.2,-2.2,-26802.9,-70.3
$KALMAN_Y,5166.5,-78.8,-70.4,-5506.1,-202.3
$MHEAD_RNG_PITCHd_Wd,293.1,391,-11.1,-7.407
$D_GRID,117
$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,-78.2,0.0,0.0,0,106,0.00,0.00,-79.72,0.000,2,0.000,0.000,39,2175,2963
$GC,108,-0.78,-78.2,2.3,-3.0,13,170,13.73,3.08,-39.85,0.000,4,0.200,0.151,2356,736,3803
$GC,189,-0.78,-78.2,4.3,-6.8,26,196,0.00,2.80,0.00,0.000,6,0.000,0.095,2356,2170,3804
$GC,261,-0.78,-78.2,8.8,-6.4,37,267,0.00,2.85,0.00,0.000,4,0.000,0.124,2356,3569,3805
$GC,313,-0.78,-78.2,11.5,-5.4,45,320,0.00,2.88,0.00,0.000,6,0.000,0.112,2356,2151,3806
$GC,385,-0.78,-78.2,14.9,-4.8,56,392,0.00,2.95,0.00,0.000,4,0.000,0.138,2355,737,3806
$GC,431,-0.78,-78.2,17.5,-5.7,63,437,0.00,2.78,0.00,0.000,6,0.000,0.095,2356,2162,3806
$GC,508,-0.78,-78.2,21.5,-5.1,73,513,0.00,2.85,0.00,0.000,4,0.000,0.123,2356,3564,3806
$GC,546,-0.78,-78.2,23.3,-5.0,75,554,0.00,2.90,0.00,0.000,6,0.000,0.111,2356,2149,3806
$GC,743,-0.78,-78.2,32.6,-4.7,91,747,0.00,2.92,0.00,0.000,4,0.000,0.138,2355,738,3807
$GC,835,-0.78,-78.2,37.4,-5.4,98,839,0.00,2.78,0.00,0.000,6,0.000,0.096,2355,2161,3807
$GC,1030,-0.78,-78.2,47.9,-5.6,113,1035,0.00,2.85,0.00,0.000,4,0.000,0.122,2357,3573,3807
$GC,1076,-0.78,-78.2,50.5,-6.2,116,1080,0.00,2.88,0.00,0.000,6,0.000,0.114,2356,2152,3808
$GC,1271,-0.78,-78.2,60.5,-4.7,131,1276,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,736,3807
$GC,1343,-0.78,-78.2,64.2,-4.9,136,1348,0.00,2.78,0.00,0.000,6,0.000,0.097,2356,2164,3807
$GC,1539,-0.78,-78.2,73.4,-4.4,151,1543,0.00,2.83,0.00,0.000,4,0.000,0.121,2356,3567,3807
$GC,1598,-0.78,-78.2,76.2,-4.9,155,1602,0.00,2.88,0.00,0.000,6,0.000,0.116,2355,2152,3808
$GC,1793,-0.78,-78.2,85.0,-4.7,170,1797,0.00,2.92,0.00,0.000,4,0.000,0.137,2355,736,3807
$GC,1891,-0.78,-78.2,89.6,-5.4,177,1896,0.00,2.78,0.00,0.000,6,0.000,0.096,2355,2167,3807
$GC,2087,-0.78,-78.2,98.9,-4.9,192,2091,0.00,2.83,0.00,0.000,4,0.000,0.121,2356,3568,3807
$STATE,2109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2110,begin apogee
$GC,2117,-0.31,0.0,100.4,5.5,193,2184,0.50,0.00,61.88,0.752,6,0.136,0.000,2452,2059,3484
$STATE,2185,end apogee,CONTROL_FINISHED_OK
$STATE,2185,begin climb
$GC,2187,0.78,78.2,102.3,0.0,199,2256,1.25,0.00,60.78,0.736,6,0.113,0.000,2698,2055,3165
$GC,2445,0.86,146.6,90.2,5.8,220,2506,0.00,2.95,51.92,0.728,4,0.000,0.126,2698,662,2885
$GC,2590,0.86,146.6,79.5,8.0,231,2598,0.00,2.72,0.00,0.000,6,0.000,0.080,2698,2080,2884
$GC,2786,0.86,146.6,64.0,8.0,247,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2080,2883
$GC,2977,0.86,146.6,49.1,7.9,262,2982,0.00,2.92,0.00,0.000,4,0.000,0.122,2698,650,2883
$GC,3009,0.86,146.6,46.3,8.4,264,3014,0.00,2.70,0.00,0.000,6,0.000,0.078,2698,2086,2883
$GC,3204,0.86,151.3,31.1,7.3,279,3209,0.00,0.00,3.33,0.775,6,0.000,0.000,2698,2085,2867
$GC,3395,0.86,151.3,17.2,7.4,296,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2085,2867
$GC,3466,0.90,187.1,12.5,6.6,307,3497,0.12,0.00,26.95,0.703,6,0.074,0.000,2727,2086,2721
$STATE,3561,end climb,SURFACE_DEPTH_REACHED
$STATE,3561,begin surface coast
$FINISH,1.3,1.020104
$STATE,3635,end surface coast,CONTROL_FINISHED_OK
$STATE,3635,begin surface
$SM_CCo,3657,190.65,0.645,0,0,1240,550.21
$SM_GC,1.37,0.00,0.00,190.65,0.000,0.000,0.645,37,2176,1240,-11.47,0.45,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.9,24.499
$10V_AH,10.2,6.495
$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,27.975,69.000,204.850,190.650,0.000,32.589,29.696,82.176,2.500,0.000,0.000,30.798,637.349,2073.037,553.658,593.007,277.403,33.336,917.822,0.000,581.020,0.000,5.350
$DEVICE_MAMPS,200.187,151.099,774.670,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,220.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,333
$CFSIZE,260034560,252280832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,123327,4739.596,-12253.312,35,1.9,35,18.3