version: 66.02
glider: 22
mission: 2
dive: 188
start: 9 27 107 17 12 17
data:
$ID,22
$MISSION,2
$DIVE,188
$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,-112967.76
$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,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
$GPS1,170637,4739.476,-12252.744,37,1.2,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,171053,4739.481,-12252.756,12,3.0,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.269,-0.092
$KALMAN_X,27431.8,-1.1,-15.3,-27135.3,176.1
$KALMAN_Y,5232.4,-103.3,-58.9,-5460.2,222.2
$MHEAD_RNG_PITCHd_Wd,232.8,557,-10.7,-7.407
$D_GRID,122
$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,-0.75,-78.2,0.0,0.0,0,99,0.00,0.00,-73.60,0.000,2,0.000,0.000,40,2144,2847
$GC,102,-0.75,-78.2,2.3,-2.9,12,169,13.77,2.97,-43.35,0.000,4,0.202,0.146,2358,745,3804
$GC,422,-0.75,-78.2,18.2,-4.7,61,428,0.00,2.75,0.00,0.000,6,0.000,0.094,2358,2161,3806
$GC,500,-0.75,-78.2,22.0,-5.0,70,505,0.00,2.97,0.00,0.000,4,0.000,0.133,2358,734,3806
$GC,537,-0.75,-78.2,24.2,-5.9,72,545,0.00,2.80,0.00,0.000,6,0.000,0.095,2358,2159,3806
$GC,734,-0.75,-78.2,33.1,-5.0,88,739,0.00,2.85,0.00,0.000,4,0.000,0.121,2359,3572,3807
$GC,772,-0.75,-78.2,35.5,-6.3,90,779,0.00,2.90,0.00,0.000,6,0.000,0.111,2358,2150,3807
$GC,968,-0.75,-78.2,45.7,-4.8,106,973,0.00,2.92,0.00,0.000,4,0.000,0.136,2358,738,3807
$GC,1006,-0.75,-78.2,47.5,-4.6,108,1014,0.00,2.83,0.00,0.000,6,0.000,0.097,2358,2170,3807
$GC,1203,-0.75,-78.2,56.8,-4.9,124,1207,0.00,2.83,0.00,0.000,4,0.000,0.123,2359,3563,3807
$GC,1249,-0.75,-78.2,59.3,-5.9,127,1253,0.00,2.85,0.00,0.000,6,0.000,0.114,2358,2158,3807
$GC,1444,-0.75,-78.2,68.5,-4.5,142,1449,0.00,2.95,0.00,0.000,4,0.000,0.139,2358,738,3807
$GC,1495,-0.75,-78.2,71.1,-4.8,145,1502,0.00,2.83,0.00,0.000,6,0.000,0.098,2358,2170,3807
$GC,1692,-0.75,-78.2,79.9,-4.4,161,1696,0.00,2.83,0.00,0.000,4,0.000,0.123,2358,3566,3807
$GC,1737,-0.75,-78.2,82.2,-5.5,164,1742,0.00,2.88,0.00,0.000,6,0.000,0.114,2358,2149,3807
$GC,1933,-0.75,-78.2,91.2,-4.8,179,1937,0.00,2.92,0.00,0.000,4,0.000,0.137,2358,737,3807
$GC,1998,-0.75,-78.2,93.9,-3.7,184,2003,0.00,2.78,0.00,0.000,6,0.000,0.098,2358,2165,3807
$STATE,2141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2141,begin apogee
$GC,2146,-0.31,0.0,100.4,4.2,195,2216,0.52,0.00,62.15,0.752,6,0.130,0.000,2458,2061,3484
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2217,begin climb
$GC,2219,0.75,78.2,101.5,0.0,201,2287,1.12,2.80,60.80,0.732,4,0.105,0.104,2686,650,3164
$GC,2318,0.84,158.4,97.7,5.7,208,2387,0.08,2.72,61.35,0.720,6,0.064,0.076,2714,2077,2837
$GC,2576,0.84,158.4,75.9,9.1,229,2580,0.00,2.92,0.00,0.000,4,0.000,0.123,2712,658,2837
$GC,2601,0.84,158.4,73.6,9.1,230,2608,0.00,2.70,0.00,0.000,6,0.000,0.078,2712,2086,2837
$GC,2796,0.84,158.4,55.9,9.2,246,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2086,2837
$GC,2987,0.84,158.4,38.9,9.1,261,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2086,2837
$GC,3178,0.84,158.4,22.7,8.5,276,3182,0.00,2.92,0.00,0.000,4,0.000,0.123,2713,655,2837
$GC,3196,0.84,158.4,20.9,8.7,277,3201,0.00,2.70,0.00,0.000,6,0.000,0.077,2713,2082,2837
$GC,3402,0.90,217.2,5.8,6.1,307,3421,0.00,0.00,17.23,0.700,2,0.000,0.000,2713,2082,2743
$STATE,3421,end climb,SURFACE_DEPTH_REACHED
$STATE,3421,begin surface coast
$FINISH,1.7,1.020409
$STATE,3532,end surface coast,CONTROL_FINISHED_OK
$STATE,3532,begin surface
$SM_CCo,3553,184.10,0.645,0,0,1240,550.21
$SM_GC,1.29,0.00,0.00,184.10,0.000,0.000,0.645,41,2178,1240,-11.45,0.54,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2089
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,24.937
$10V_AH,10.2,6.624
$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,27.900,63.025,201.525,184.100,0.000,32.579,34.268,92.444,2.500,0.000,0.000,32.538,625.277,2017.318,523.004,583.666,291.955,33.337,880.198,0.000,565.485,0.000,5.351
$DEVICE_MAMPS,201.721,145.730,751.660,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,216.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,327
$CFSIZE,260034560,252141568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,181521,4739.354,-12253.095,13,2.0,13,18.3