version: 66.02
glider: 22
mission: 2
dive: 191
start: 9 27 107 20 37 49
data:
$ID,22
$MISSION,2
$DIVE,191
$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,-113069.12
$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,2167
$C_ROLL_CLIMB,2095
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$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
$GPS1,203214,4739.300,-12253.265,9,1.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,203626,4739.302,-12253.290,13,1.8,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,0.267
$KALMAN_X,27430.4,96.8,133.9,-28036.2,-24.0
$KALMAN_Y,4475.8,-110.0,141.6,-5222.2,-178.4
$MHEAD_RNG_PITCHd_Wd,356.8,325,-11.1,-7.407
$D_GRID,120
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.78,-78.2,0.0,0.0,0,100,0.00,0.00,-73.40,0.000,2,0.000,0.000,39,2186,2831
$GC,103,-0.78,-78.2,2.2,-2.6,12,170,13.73,2.88,-43.33,0.000,4,0.201,0.133,2353,3566,3805
$GC,303,-0.78,-78.2,13.3,-6.3,43,310,0.00,2.85,0.00,0.000,6,0.000,0.113,2353,2161,3806
$GC,375,-0.78,-78.2,16.8,-4.6,54,381,0.00,2.97,0.00,0.000,4,0.000,0.142,2353,747,3806
$GC,427,-0.78,-78.2,19.3,-4.9,62,434,0.00,2.78,0.00,0.000,6,0.000,0.095,2353,2175,3806
$GC,497,-0.78,-78.2,23.0,-5.2,69,501,0.00,2.85,0.00,0.000,4,0.000,0.126,2353,3563,3806
$GC,575,-0.78,-78.2,27.2,-5.7,74,582,0.00,2.85,0.00,0.000,6,0.000,0.113,2352,2158,3807
$GC,771,-0.78,-78.2,36.6,-4.9,90,776,0.00,2.95,0.00,0.000,4,0.000,0.140,2352,748,3807
$GC,836,-0.78,-78.2,40.1,-5.1,94,843,0.00,2.80,0.00,0.000,6,0.000,0.099,2353,2161,3807
$GC,1032,-0.78,-78.2,49.5,-4.9,110,1036,0.00,2.88,0.00,0.000,4,0.000,0.125,2353,3572,3807
$GC,1070,-0.78,-78.2,51.5,-5.5,112,1077,0.00,2.90,0.00,0.000,6,0.000,0.117,2353,2153,3808
$GC,1266,-0.78,-78.2,60.7,-4.9,128,1271,0.00,2.92,0.00,0.000,4,0.000,0.138,2353,748,3808
$GC,1340,-0.78,-78.2,64.7,-5.6,133,1345,0.00,2.80,0.00,0.000,6,0.000,0.099,2353,2180,3807
$GC,1535,-0.78,-78.2,75.4,-5.5,148,1540,0.00,2.83,0.00,0.000,4,0.000,0.124,2353,3570,3807
$GC,1610,-0.78,-78.2,79.8,-6.5,153,1614,0.00,2.88,0.00,0.000,6,0.000,0.117,2353,2161,3808
$GC,1805,-0.78,-78.2,91.2,-5.9,168,1809,0.00,2.95,0.00,0.000,4,0.000,0.138,2352,740,3808
$GC,1864,-0.78,-78.2,94.7,-6.1,172,1869,0.00,2.80,0.00,0.000,6,0.000,0.099,2353,2175,3807
$STATE,1956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1956,begin apogee
$GC,1961,-0.31,0.0,100.2,5.8,179,2031,0.55,0.00,62.45,0.745,6,0.133,0.000,2458,2081,3483
$STATE,2032,end apogee,CONTROL_FINISHED_OK
$STATE,2032,begin climb
$GC,2034,0.78,78.2,102.3,0.0,185,2102,1.17,2.88,60.40,0.728,4,0.107,0.118,2694,674,3164
$GC,2133,0.90,191.8,99.4,4.8,192,2227,0.10,2.72,86.82,0.710,6,0.059,0.078,2726,2093,2701
$GC,2416,0.90,191.8,75.3,9.3,215,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2093,2701
$GC,2604,0.90,191.8,57.1,9.4,230,2609,0.00,2.92,0.00,0.000,4,0.000,0.125,2725,676,2700
$GC,2636,0.90,191.8,53.8,9.9,232,2640,0.00,2.70,0.00,0.000,6,0.000,0.076,2725,2110,2700
$GC,2838,0.90,191.8,34.6,9.8,248,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2110,2700
$GC,3029,0.90,191.8,16.4,8.8,266,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2110,2700
$GC,3101,0.90,191.8,9.7,8.9,277,3108,0.00,2.95,0.00,0.000,4,0.000,0.125,2725,677,2700
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3159,begin surface coast
$FINISH,2.7,1.020712
$STATE,3199,end surface coast,CONTROL_FINISHED_OK
$STATE,3199,begin surface
$SM_CCo,3224,182.15,0.644,0,0,1241,550.21
$SM_GC,1.37,0.00,0.00,182.15,0.000,0.000,0.644,39,2183,1241,-11.46,0.45,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2078
$TCM_TEMP,19.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.9,25.206
$10V_AH,10.2,6.700
$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,28.000,63.125,209.675,182.150,0.000,32.581,32.084,92.907,2.250,0.000,0.000,30.115,566.388,1788.147,530.752,537.619,282.332,33.334,869.204,0.000,521.087,0.000,5.351
$DEVICE_MAMPS,200.954,141.895,744.757,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9595,292
$CFSIZE,260034560,252063744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,213521,4739.438,-12253.227,12,1.8,12,18.3