version: 66.02
glider: 22
mission: 2
dive: 171
start: 9 26 107 21 39 27
data:
$ID,22
$MISSION,2
$DIVE,171
$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,-112485.51
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$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
$GPS1,213026,4739.409,-12253.004,10,2.0,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.9
$GPS2,213803,4739.393,-12253.012,12,2.0,12,18.3
$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,27386.3,36.0,126.2,-27583.5,-134.0
$KALMAN_Y,5840.6,-8.1,45.8,-6430.5,-244.2
$MHEAD_RNG_PITCHd_Wd,326.7,274,-11.1,-7.407
$D_GRID,116
$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,-78.2,0.0,0.0,0,100,0.00,0.00,-74.00,0.000,2,0.000,0.000,38,2166,2875
$GC,102,-0.78,-78.2,2.2,-2.4,12,169,13.70,2.88,-44.65,0.000,4,0.199,0.130,2356,3558,3804
$GC,341,-0.78,-78.2,14.7,-5.7,49,347,0.00,2.88,0.00,0.000,6,0.000,0.110,2356,2136,3805
$GC,413,-0.78,-78.2,18.5,-5.2,60,419,0.00,2.88,0.00,0.000,4,0.000,0.113,2355,3562,3807
$GC,439,-0.78,-78.2,19.8,-5.3,64,445,0.00,2.88,0.00,0.000,6,0.000,0.110,2356,2134,3807
$GC,508,-0.78,-78.2,23.5,-5.5,70,513,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,723,3806
$GC,572,-0.78,-78.2,27.2,-6.1,74,580,0.00,2.78,0.00,0.000,6,0.000,0.092,2356,2147,3806
$GC,769,-0.78,-78.2,37.1,-5.0,90,773,0.00,2.85,0.00,0.000,4,0.000,0.119,2357,3564,3807
$GC,833,-0.78,-78.2,40.6,-5.5,94,841,0.00,2.88,0.00,0.000,6,0.000,0.108,2356,2149,3807
$GC,1032,-0.78,-78.2,50.4,-5.3,110,1037,0.00,2.95,0.00,0.000,4,0.000,0.138,2356,723,3807
$GC,1096,-0.78,-78.2,54.3,-6.0,114,1104,0.00,2.80,0.00,0.000,6,0.000,0.094,2356,2155,3807
$GC,1293,-0.78,-78.2,64.7,-5.4,130,1298,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3563,3807
$GC,1344,-0.78,-78.2,67.9,-6.4,133,1352,0.00,2.88,0.00,0.000,6,0.000,0.109,2356,2147,3807
$GC,1541,-0.78,-78.2,77.8,-5.1,149,1546,0.00,2.95,0.00,0.000,4,0.000,0.137,2356,724,3807
$GC,1600,-0.78,-78.2,81.0,-5.4,153,1604,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2156,3807
$GC,1795,-0.78,-78.2,90.6,-4.7,168,1800,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3566,3807
$GC,1846,-0.78,-78.2,93.2,-4.8,171,1854,0.00,2.88,0.00,0.000,6,0.000,0.111,2356,2153,3807
$STATE,1990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1990,begin apogee
$GC,1996,-0.31,0.0,100.3,5.6,183,2065,0.52,0.00,62.25,0.743,6,0.129,0.000,2456,2044,3484
$STATE,2066,end apogee,CONTROL_FINISHED_OK
$STATE,2066,begin climb
$GC,2068,0.78,78.2,102.4,0.0,189,2141,1.17,2.85,60.95,0.726,4,0.107,0.098,2694,3469,3163
$GC,2180,0.96,239.2,99.2,3.7,198,2316,0.20,2.78,123.35,0.706,6,0.068,0.084,2741,2035,2508
$GC,2505,0.96,239.2,66.6,11.8,224,2510,0.00,2.90,0.00,0.000,4,0.000,0.130,2740,628,2507
$GC,2596,0.96,239.2,55.1,12.5,230,2603,0.00,2.70,0.00,0.000,6,0.000,0.072,2741,2059,2507
$GC,2792,0.96,239.2,32.6,11.4,246,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2059,2507
$GC,2985,0.96,239.2,11.3,10.3,267,2991,0.00,2.92,0.00,0.000,4,0.000,0.123,2740,636,2507
$GC,3044,0.96,239.2,5.5,9.3,276,3050,0.00,2.67,0.00,0.000,6,0.000,0.077,2741,2062,2507
$STATE,3054,end climb,SURFACE_DEPTH_REACHED
$STATE,3054,begin surface coast
$FINISH,0.6,1.001218
$STATE,3130,end surface coast,CONTROL_FINISHED_OK
$STATE,3130,begin surface
$SM_CCo,3150,162.90,0.640,0,0,1240,550.21
$SM_GC,1.44,0.00,0.00,162.90,0.000,0.000,0.640,36,2159,1240,-11.47,0.25,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,23.426
$10V_AH,10.2,6.179
$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,27.900,63.050,246.550,162.900,0.000,65.192,162.565,92.600,2.000,0.000,0.000,12.434,548.585,1755.629,551.997,519.400,441.942,33.336,897.791,0.000,524.031,0.000,5.352
$DEVICE_MAMPS,199.420,138.827,743.223,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9599,289
$CFSIZE,260034560,252633088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,223555,4739.442,-12253.043,41,1.8,41,18.3