version: 66.02
glider: 22
mission: 2
dive: 186
start: 9 27 107 14 58 53
data:
$ID,22
$MISSION,2
$DIVE,186
$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,-112899.12
$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,8
$R_STBD_OVSHOOT,13
$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
$GPS1,145323,4739.561,-12252.191,15,2.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.6
$GPS2,145729,4739.553,-12252.188,13,2.4,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.228,-0.156
$KALMAN_X,26999.3,-70.1,-71.0,-25861.9,8.2
$KALMAN_Y,4978.5,-133.9,-234.8,-4868.2,31.1
$MHEAD_RNG_PITCHd_Wd,217.2,311,-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,-67.75,0.000,2,0.000,0.000,38,2171,2725
$GC,96,-0.78,-78.2,2.0,-2.0,11,170,13.70,2.88,-52.75,0.000,4,0.199,0.135,2356,3567,3802
$GC,362,-0.78,-78.2,14.6,-5.7,52,369,0.00,2.88,0.00,0.000,6,0.000,0.114,2356,2157,3805
$GC,435,-0.78,-78.2,18.1,-4.9,63,441,0.00,2.97,0.00,0.000,4,0.000,0.140,2356,735,3805
$GC,513,-0.78,-78.2,22.6,-5.6,72,518,0.00,2.78,0.00,0.000,6,0.000,0.095,2356,2160,3805
$GC,709,-0.78,-78.2,32.8,-5.2,87,713,0.00,2.85,0.00,0.000,4,0.000,0.124,2356,3561,3806
$GC,767,-0.78,-78.2,35.9,-5.1,91,772,0.00,2.85,0.00,0.000,6,0.000,0.112,2356,2155,3806
$GC,963,-0.78,-78.2,45.9,-5.4,106,967,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,738,3806
$GC,1001,-0.78,-78.2,47.9,-5.3,108,1008,0.00,2.80,0.00,0.000,6,0.000,0.097,2356,2159,3806
$GC,1197,-0.78,-78.2,58.5,-5.4,124,1202,0.00,2.85,0.00,0.000,4,0.000,0.123,2356,3564,3806
$GC,1243,-0.78,-78.2,61.1,-6.1,127,1248,0.00,2.88,0.00,0.000,6,0.000,0.119,2356,2148,3806
$GC,1438,-0.78,-78.2,70.8,-4.7,142,1443,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,732,3806
$GC,1471,-0.78,-78.2,72.5,-5.6,144,1475,0.00,2.80,0.00,0.000,6,0.000,0.098,2356,2170,3806
$GC,1666,-0.78,-78.2,83.1,-5.6,159,1671,0.00,2.83,0.00,0.000,4,0.000,0.123,2356,3564,3806
$GC,1730,-0.78,-78.2,87.0,-6.5,163,1738,0.00,2.90,0.00,0.000,6,0.000,0.116,2356,2157,3806
$GC,1927,-0.78,-78.2,98.0,-5.5,179,1932,0.00,2.95,0.00,0.000,4,0.000,0.139,2355,737,3806
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1963,begin apogee
$GC,1970,-0.31,0.0,100.1,5.2,181,2037,0.50,0.00,62.05,0.746,6,0.128,0.000,2454,2086,3483
$STATE,2038,end apogee,CONTROL_FINISHED_OK
$STATE,2038,begin climb
$GC,2040,0.78,78.2,101.8,0.0,187,2111,1.20,2.88,60.55,0.730,4,0.102,0.110,2695,3496,3164
$GC,2129,0.87,163.5,98.5,5.5,194,2201,0.08,2.83,65.53,0.718,6,0.063,0.086,2722,2062,2816
$GC,2398,0.87,163.5,74.2,8.7,216,2403,0.00,2.90,0.00,0.000,4,0.000,0.127,2721,649,2815
$GC,2485,0.87,163.5,65.9,10.3,222,2490,0.00,2.70,0.00,0.000,6,0.000,0.075,2721,2087,2814
$GC,2680,0.87,163.5,47.4,9.3,237,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2088,2814
$GC,2870,0.87,163.5,30.6,8.8,252,2875,0.00,2.92,0.00,0.000,4,0.000,0.123,2721,657,2815
$GC,2902,0.87,163.5,27.7,9.3,254,2906,0.00,2.67,0.00,0.000,6,0.000,0.077,2721,2086,2814
$GC,3103,0.87,163.5,9.6,9.0,278,3110,0.00,2.95,0.00,0.000,4,0.000,0.126,2721,649,2815
$GC,3129,0.87,163.5,7.5,8.4,282,3136,0.00,2.70,0.00,0.000,6,0.000,0.081,2721,2080,2814
$STATE,3173,end climb,SURFACE_DEPTH_REACHED
$STATE,3173,begin surface coast
$FINISH,2.7,1.020393
$STATE,3273,end surface coast,CONTROL_FINISHED_OK
$STATE,3274,begin surface
$SM_CCo,3295,200.93,0.647,0,0,1241,550.21
$SM_GC,1.28,0.00,0.00,200.93,0.000,0.000,0.647,40,2178,1241,-11.45,0.51,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2100
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.3,8.1
$24V_AH,23.8,24.762
$10V_AH,10.2,6.572
$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,27.850,68.475,188.125,200.925,0.000,32.580,37.080,80.408,2.000,0.000,0.000,32.980,588.546,1836.970,537.511,553.233,272.658,33.339,875.009,0.000,535.035,0.000,5.351
$DEVICE_MAMPS,198.653,140.361,746.291,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,200.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9574,304
$CFSIZE,260034560,252203008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,155808,4739.496,-12252.436,26,1.3,26,18.3