version: 66.02
glider: 22
mission: 2
dive: 190
start: 9 27 107 19 33 38
data:
$ID,22
$MISSION,2
$DIVE,190
$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,-113038.38
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,192129,4739.333,-12253.580,9,3.3,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,193214,4739.312,-12253.617,30,1.9,37,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.219,0.169
$KALMAN_X,27592.1,87.1,120.1,-28585.9,98.2
$KALMAN_Y,4842.3,-80.0,154.4,-5613.2,-42.5
$MHEAD_RNG_PITCHd_Wd,34.1,592,-11.1,-7.407
$D_GRID,117
$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,24,-0.78,-78.2,0.0,0.0,0,99,0.00,0.00,-73.47,0.000,2,0.000,0.000,37,2179,2833
$GC,102,-0.78,-78.2,2.0,-2.5,12,170,13.65,2.83,-47.35,0.000,4,0.199,0.131,2353,3562,3802
$GC,224,-0.78,-78.2,7.0,-7.9,31,230,0.00,2.80,0.00,0.000,6,0.000,0.104,2352,2157,3804
$GC,295,-0.78,-78.2,10.9,-4.9,42,302,0.00,2.95,0.00,0.000,4,0.000,0.138,2352,745,3804
$GC,414,-0.78,-78.2,17.6,-5.8,60,420,0.00,2.75,0.00,0.000,6,0.000,0.091,2352,2175,3804
$GC,491,-0.78,-78.2,21.0,-4.2,70,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2174,3805
$GC,682,-0.78,-78.2,30.3,-5.1,85,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2174,3806
$GC,872,-0.78,-78.2,40.3,-5.2,100,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2175,3806
$GC,1063,-0.78,-78.2,50.2,-5.1,115,1067,0.00,2.83,0.00,0.000,4,0.000,0.123,2353,3566,3806
$GC,1114,-0.78,-78.2,53.3,-5.7,118,1121,0.00,2.88,0.00,0.000,6,0.000,0.113,2352,2161,3806
$GC,1310,-0.78,-78.2,63.7,-5.3,134,1315,0.00,2.95,0.00,0.000,4,0.000,0.139,2352,742,3806
$GC,1356,-0.78,-78.2,66.1,-5.1,137,1361,0.00,2.78,0.00,0.000,6,0.000,0.097,2352,2166,3806
$GC,1552,-0.78,-78.2,76.1,-5.0,152,1556,0.00,2.85,0.00,0.000,4,0.000,0.125,2353,3573,3806
$GC,1603,-0.78,-78.2,79.0,-5.9,155,1610,0.00,2.90,0.00,0.000,6,0.000,0.115,2352,2160,3806
$GC,1799,-0.78,-78.2,89.2,-5.2,171,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,3806
$GC,1991,-0.78,-78.2,99.3,-5.7,186,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,3806
$STATE,2012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2012,begin apogee
$GC,2017,-0.31,0.0,100.6,5.6,188,2086,0.55,0.00,62.12,0.740,6,0.132,0.000,2457,2085,3483
$STATE,2087,end apogee,CONTROL_FINISHED_OK
$STATE,2087,begin climb
$GC,2089,0.78,78.2,102.6,0.0,194,2159,1.20,2.92,60.53,0.726,4,0.104,0.106,2698,3514,3164
$GC,2186,0.91,200.0,99.8,4.6,202,2287,0.15,2.78,93.60,0.712,6,0.067,0.085,2729,2084,2666
$GC,2484,0.91,200.0,71.3,10.3,226,2488,0.00,2.90,0.00,0.000,4,0.000,0.129,2729,677,2665
$GC,2548,0.91,200.0,64.4,10.6,230,2556,0.00,2.72,0.00,0.000,6,0.000,0.079,2729,2103,2665
$GC,2745,0.91,200.0,44.6,10.1,246,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2103,2665
$GC,2935,0.91,200.0,25.7,9.5,261,2940,0.00,2.92,0.00,0.000,4,0.000,0.123,2729,677,2665
$GC,2980,0.91,200.0,21.1,10.0,264,2985,0.00,2.70,0.00,0.000,6,0.000,0.079,2729,2111,2665
$STATE,3170,end climb,SURFACE_DEPTH_REACHED
$STATE,3170,begin surface coast
$FINISH,1.0,1.020176
$STATE,3251,end surface coast,CONTROL_FINISHED_OK
$STATE,3251,begin surface
$SM_CCo,3272,183.00,0.644,0,0,1240,550.21
$SM_GC,1.28,0.00,0.00,183.00,0.000,0.000,0.644,38,2184,1240,-11.46,0.48,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2087
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.9,25.119
$10V_AH,10.2,6.676
$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,27.850,45.725,216.250,183.000,0.000,97.794,179.808,138.794,3.000,0.000,0.000,37.228,575.076,1964.283,529.742,531.733,547.319,33.334,853.772,0.000,511.863,0.000,6.631
$DEVICE_MAMPS,198.653,143.429,740.155,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,200.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,304
$CFSIZE,260034560,252088320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,203214,4739.300,-12253.265,9,1.9,27,18.3