version: 66.02
glider: 22
mission: 2
dive: 187
start: 9 27 107 16 4 14
data:
$ID,22
$MISSION,2
$DIVE,187
$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,-112934.59
$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,15
$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
$GPS1,155808,4739.496,-12252.436,26,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.5
$GPS2,160250,4739.513,-12252.444,17,1.3,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.275,-0.080
$KALMAN_X,27171.9,-27.1,-38.9,-26436.2,35.0
$KALMAN_Y,5179.5,-112.5,-159.7,-5245.0,156.5
$MHEAD_RNG_PITCHd_Wd,235.5,949,-10.5,-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,22,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,94,0.00,0.00,-67.40,0.000,2,0.000,0.000,40,2178,2717
$GC,96,-0.74,-78.2,2.0,-2.3,11,169,13.80,2.90,-48.67,0.000,4,0.202,0.133,2361,3568,3804
$GC,422,-0.74,-78.2,19.1,-5.3,61,428,0.00,2.88,0.00,0.000,6,0.000,0.115,2361,2149,3806
$GC,491,-0.74,-78.2,22.6,-5.1,68,496,0.00,2.95,0.00,0.000,4,0.000,0.139,2361,738,3806
$GC,529,-0.74,-78.2,24.7,-5.5,70,537,0.00,2.80,0.00,0.000,6,0.000,0.096,2360,2158,3806
$GC,726,-0.74,-78.2,34.7,-5.2,86,730,0.00,2.85,0.00,0.000,4,0.000,0.121,2361,3564,3807
$GC,777,-0.74,-78.2,37.8,-5.8,89,784,0.00,2.88,0.00,0.000,6,0.000,0.112,2361,2161,3807
$GC,974,-0.74,-78.2,47.3,-4.7,105,978,0.00,2.95,0.00,0.000,4,0.000,0.138,2361,739,3807
$GC,1019,-0.74,-78.2,49.4,-4.9,108,1024,0.00,2.80,0.00,0.000,6,0.000,0.097,2361,2177,3807
$GC,1215,-0.74,-78.2,59.0,-4.9,123,1219,0.00,2.80,0.00,0.000,4,0.000,0.121,2361,3570,3807
$GC,1260,-0.74,-78.2,61.5,-5.6,126,1267,0.00,2.88,0.00,0.000,6,0.000,0.114,2361,2155,3807
$GC,1456,-0.74,-78.2,70.8,-4.5,142,1460,0.00,2.92,0.00,0.000,4,0.000,0.137,2361,742,3807
$GC,1480,-0.74,-78.2,72.0,-4.6,143,1488,0.00,2.80,0.00,0.000,6,0.000,0.097,2361,2166,3807
$GC,1677,-0.74,-78.2,81.2,-4.5,159,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2166,3807
$GC,1869,-0.74,-78.2,89.0,-4.2,174,1873,0.00,2.83,0.00,0.000,4,0.000,0.120,2361,3569,3807
$GC,1901,-0.74,-78.2,90.8,-5.4,176,1906,0.00,2.88,0.00,0.000,6,0.000,0.114,2360,2152,3807
$STATE,2094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2094,begin apogee
$GC,2099,-0.31,0.0,100.4,4.6,191,2169,0.52,0.00,62.05,0.750,6,0.136,0.000,2459,2068,3484
$STATE,2170,end apogee,CONTROL_FINISHED_OK
$STATE,2170,begin climb
$GC,2172,0.74,78.2,101.8,0.0,197,2240,1.12,2.85,60.53,0.732,4,0.106,0.100,2688,3490,3164
$GC,2297,0.80,128.7,95.9,6.3,206,2342,0.00,2.75,38.70,0.732,6,0.000,0.078,2687,2067,2958
$GC,2531,0.82,148.6,79.6,7.0,225,2555,0.00,2.92,14.85,0.743,4,0.000,0.114,2687,650,2876
$GC,2648,0.82,148.6,70.0,8.3,234,2653,0.00,2.70,0.00,0.000,6,0.000,0.076,2687,2087,2876
$GC,2843,0.84,167.9,55.4,7.0,249,2868,0.12,2.88,14.38,0.736,4,0.073,0.106,2717,3492,2799
$GC,2880,0.84,167.9,52.1,9.5,252,2885,0.00,2.80,0.00,0.000,6,0.000,0.091,2717,2064,2798
$GC,3075,0.84,167.9,33.5,9.1,267,3080,0.00,2.90,0.00,0.000,4,0.000,0.130,2716,653,2798
$GC,3167,0.84,167.9,24.5,9.6,273,3174,0.00,2.70,0.00,0.000,6,0.000,0.076,2717,2075,2797
$GC,3370,0.85,179.5,8.0,7.2,300,3384,0.00,2.90,8.32,0.725,4,0.000,0.113,2717,3488,2752
$STATE,3414,end climb,SURFACE_DEPTH_REACHED
$STATE,3414,begin surface coast
$FINISH,3.1,1.020728
$STATE,3448,end surface coast,CONTROL_FINISHED_OK
$STATE,3448,begin surface
$SM_CCo,3472,195.50,0.647,0,0,1240,550.45
$SM_GC,1.34,0.00,0.00,195.50,0.000,0.000,0.647,40,2144,1240,-11.45,-0.45,550.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2081
$TCM_TEMP,19.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.9,24.851
$10V_AH,10.2,6.598
$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,28.000,68.325,198.825,195.500,0.000,32.579,39.355,109.090,3.000,0.000,0.000,34.842,603.478,1962.858,542.302,576.786,311.953,33.338,896.343,0.000,556.002,0.000,5.352
$DEVICE_MAMPS,201.721,143.429,750.126,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,206.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9546,312
$CFSIZE,260034560,252174336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,170637,4739.476,-12252.744,37,1.2,42,18.3