version: 66.02
glider: 22
mission: 2
dive: 185
start: 9 27 107 13 51 27
data:
$ID,22
$MISSION,2
$DIVE,185
$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,-112865.52
$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,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
$GPS1,134244,4739.480,-12252.733,28,1.8,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.1
$GPS2,135003,4739.451,-12252.727,15,1.8,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.271,0.056
$KALMAN_X,27081.5,-93.8,-88.6,-26574.9,63.0
$KALMAN_Y,4966.2,-134.5,-246.2,-5030.1,-42.5
$MHEAD_RNG_PITCHd_Wd,60.1,406,-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,-78.2,0.0,0.0,0,93,0.00,0.00,-67.70,0.000,2,0.000,0.000,39,2169,2719
$GC,96,-0.78,-78.2,2.1,-2.4,11,169,13.70,3.05,-50.60,0.000,4,0.199,0.152,2354,741,3805
$GC,368,-0.78,-78.2,15.1,-5.2,53,375,0.00,2.78,0.00,0.000,6,0.000,0.094,2354,2169,3806
$GC,441,-0.78,-78.2,18.3,-4.0,64,447,0.00,2.83,0.00,0.000,4,0.000,0.121,2354,3564,3806
$GC,513,-0.78,-78.2,22.2,-5.6,72,519,0.00,2.85,0.00,0.000,6,0.000,0.111,2354,2154,3807
$GC,708,-0.78,-78.2,32.2,-5.0,88,712,0.00,2.92,0.00,0.000,4,0.000,0.134,2354,739,3807
$GC,799,-0.78,-78.2,37.2,-5.3,94,806,0.00,2.80,0.00,0.000,6,0.000,0.095,2354,2165,3807
$GC,995,-0.78,-78.2,47.5,-5.0,110,1000,0.00,2.85,0.00,0.000,4,0.000,0.123,2355,3568,3808
$GC,1061,-0.78,-78.2,51.0,-5.4,115,1065,0.00,2.88,0.00,0.000,6,0.000,0.114,2354,2152,3808
$GC,1256,-0.78,-78.2,60.1,-4.9,130,1261,0.00,2.95,0.00,0.000,4,0.000,0.139,2354,736,3808
$GC,1360,-0.78,-78.2,65.7,-5.6,137,1368,0.00,2.80,0.00,0.000,6,0.000,0.096,2354,2164,3808
$GC,1557,-0.78,-78.2,75.9,-5.4,153,1561,0.00,2.83,0.00,0.000,4,0.000,0.122,2355,3563,3807
$GC,1609,-0.78,-78.2,78.7,-5.8,157,1614,0.00,2.85,0.00,0.000,6,0.000,0.114,2354,2155,3807
$GC,1804,-0.78,-78.2,88.8,-5.0,172,1809,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,738,3807
$GC,1842,-0.78,-78.2,91.0,-5.8,174,1850,0.00,2.80,0.00,0.000,6,0.000,0.097,2354,2159,3807
$STATE,2025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2026,begin apogee
$GC,2030,-0.31,0.0,100.1,5.0,189,2100,0.55,0.00,62.30,0.752,6,0.127,0.000,2460,2067,3483
$STATE,2101,end apogee,CONTROL_FINISHED_OK
$STATE,2101,begin climb
$GC,2103,0.78,78.2,101.4,0.0,195,2170,1.12,2.88,60.33,0.731,4,0.102,0.112,2691,652,3164
$GC,2236,0.84,133.2,95.7,6.1,205,2286,0.10,2.67,42.17,0.728,6,0.071,0.074,2717,2083,2939
$GC,2474,0.84,133.2,77.1,8.2,224,2479,0.00,2.80,0.00,0.000,4,0.000,0.109,2717,3496,2939
$GC,2498,0.84,133.2,74.7,8.7,225,2506,0.00,2.80,0.00,0.000,6,0.000,0.088,2717,2070,2939
$GC,2694,0.84,133.2,58.1,8.8,241,2699,0.00,2.90,0.00,0.000,4,0.000,0.127,2717,652,2939
$GC,2786,0.84,133.2,49.7,9.0,247,2793,0.00,2.70,0.00,0.000,6,0.000,0.075,2717,2082,2937
$GC,2982,0.84,133.2,33.2,8.5,263,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2081,2937
$GC,3172,0.84,133.2,17.1,8.0,280,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2081,2937
$GC,3244,0.84,133.2,11.3,7.8,291,3251,0.00,2.80,0.00,0.000,4,0.000,0.110,2717,3497,2937
$GC,3270,0.86,150.6,9.4,7.0,295,3289,0.00,2.78,12.38,0.714,6,0.000,0.091,2717,2069,2869
$STATE,3333,end climb,SURFACE_DEPTH_REACHED
$STATE,3333,begin surface coast
$FINISH,2.0,1.020330
$STATE,3420,end surface coast,CONTROL_FINISHED_OK
$STATE,3420,begin surface
$SM_CCo,3441,206.55,0.644,0,0,1241,550.21
$SM_GC,1.34,0.00,0.00,206.55,0.000,0.000,0.644,37,2171,1241,-11.46,0.28,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2076
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.9,24.677
$10V_AH,10.2,6.547
$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,27.900,62.850,177.175,206.550,0.000,65.157,65.726,156.222,2.000,0.000,0.000,17.031,605.413,1998.762,537.716,567.202,425.360,33.333,890.382,0.000,564.009,0.000,5.351
$DEVICE_MAMPS,199.420,151.866,751.660,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,210.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9567,318
$CFSIZE,260034560,252227584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,145323,4739.561,-12252.191,15,2.9,34,18.3