version: 66.02
glider: 22
mission: 2
dive: 189
start: 9 27 107 18 21 5
data:
$ID,22
$MISSION,2
$DIVE,189
$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,-113000.52
$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,2167
$C_ROLL_CLIMB,2095
$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
$GPS1,181521,4739.354,-12253.095,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,181941,4739.350,-12253.110,12,2.6,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.268,0.067
$KALMAN_X,27590.5,45.1,53.0,-27846.6,200.3
$KALMAN_Y,5119.0,-81.7,71.4,-5738.8,135.2
$MHEAD_RNG_PITCHd_Wd,265.7,246,-11.1,-7.407
$D_GRID,119
$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,-78.2,0.0,0.0,0,99,0.00,0.00,-73.62,0.000,2,0.000,0.000,40,2179,2842
$GC,102,-0.78,-78.2,2.3,-3.2,12,169,13.73,2.90,-43.62,0.000,4,0.200,0.137,2356,3560,3805
$GC,394,-0.78,-78.2,18.0,-5.3,57,400,0.00,2.83,0.00,0.000,6,0.000,0.112,2356,2163,3806
$GC,471,-0.78,-78.2,22.2,-5.2,66,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2163,3806
$GC,663,-0.78,-78.2,32.0,-5.3,81,668,0.00,2.97,0.00,0.000,4,0.000,0.140,2355,740,3807
$GC,727,-0.78,-78.2,36.0,-5.8,85,734,0.00,2.83,0.00,0.000,6,0.000,0.097,2355,2177,3807
$GC,924,-0.78,-78.2,46.9,-5.8,101,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2177,3807
$GC,1113,-0.78,-78.2,56.6,-4.8,116,1117,0.00,2.83,0.00,0.000,4,0.000,0.123,2356,3570,3807
$GC,1172,-0.78,-78.2,59.7,-5.6,120,1177,0.00,2.88,0.00,0.000,6,0.000,0.115,2356,2157,3807
$GC,1367,-0.78,-78.2,69.9,-5.5,135,1372,0.00,2.95,0.00,0.000,4,0.000,0.140,2355,741,3807
$GC,1445,-0.78,-78.2,74.2,-5.0,140,1452,0.00,2.83,0.00,0.000,6,0.000,0.097,2356,2176,3807
$GC,1641,-0.78,-78.2,84.3,-5.1,156,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2176,3807
$GC,1832,-0.78,-78.2,93.8,-5.1,171,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2176,3807
$STATE,1967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1967,begin apogee
$GC,1972,-0.31,0.0,100.5,4.9,182,2042,0.52,0.00,62.53,0.745,6,0.128,0.000,2456,2080,3483
$STATE,2043,end apogee,CONTROL_FINISHED_OK
$STATE,2043,begin climb
$GC,2045,0.78,78.2,102.1,0.0,188,2114,1.20,0.00,60.70,0.732,6,0.101,0.000,2697,2075,3165
$GC,2303,0.87,160.2,89.6,5.5,209,2376,0.00,2.95,62.53,0.727,4,0.000,0.118,2697,675,2830
$GC,2441,0.87,160.2,79.7,8.6,220,2446,0.10,2.72,0.00,0.000,6,0.069,0.079,2722,2107,2830
$GC,2637,0.87,160.2,61.4,9.5,235,2641,0.00,2.92,0.00,0.000,4,0.000,0.120,2722,681,2830
$GC,2669,0.87,160.2,58.2,10.4,237,2673,0.00,2.67,0.00,0.000,6,0.000,0.078,2723,2098,2829
$GC,2871,0.87,160.2,39.1,9.1,253,2876,0.00,2.92,0.00,0.000,4,0.000,0.125,2722,681,2829
$GC,2909,0.87,160.2,35.4,9.5,255,2917,0.00,2.70,0.00,0.000,6,0.000,0.078,2722,2095,2829
$GC,3109,0.87,160.2,17.6,8.5,273,3115,0.00,2.83,0.00,0.000,4,0.000,0.112,2723,3518,2829
$GC,3140,0.87,160.2,14.5,9.6,278,3147,0.00,2.78,0.00,0.000,6,0.000,0.091,2723,2090,2829
$GC,3213,0.87,160.2,8.3,8.0,289,3219,0.00,2.92,0.00,0.000,4,0.000,0.132,2722,671,2829
$GC,3252,0.87,160.2,5.4,7.8,295,3258,0.00,2.72,0.00,0.000,6,0.000,0.084,2723,2103,2828
$STATE,3262,end climb,SURFACE_DEPTH_REACHED
$STATE,3262,begin surface coast
$FINISH,1.8,1.020403
$STATE,3343,end surface coast,CONTROL_FINISHED_OK
$STATE,3343,begin surface
$SM_CCo,3364,197.12,0.645,0,0,1240,550.21
$SM_GC,1.34,0.00,0.00,197.12,0.000,0.000,0.645,37,2178,1240,-11.47,0.34,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2096
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.9,25.021
$10V_AH,10.2,6.648
$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,27.975,51.475,185.750,197.125,0.000,32.580,34.606,91.815,1.750,0.000,0.000,32.137,587.139,1923.974,536.240,533.898,287.701,33.359,859.230,0.000,519.559,0.000,5.349
$DEVICE_MAMPS,200.187,140.361,744.757,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9593,309
$CFSIZE,260034560,252116992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,192129,4739.333,-12253.580,9,3.3,28,18.3