version: 66.02
glider: 22
mission: 2
dive: 177
start: 9 27 107 4 29 27
data:
$ID,22
$MISSION,2
$DIVE,177
$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,-112629.6
$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,6
$R_STBD_OVSHOOT,13
$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
$GPS1,042401,4739.407,-12252.766,39,1.2,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.9
$GPS2,042802,4739.417,-12252.769,10,1.3,16,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.271,-0.053
$KALMAN_X,27461.8,-55.8,-96.7,-27035.9,100.9
$KALMAN_Y,5816.5,-67.7,-18.1,-6238.5,160.3
$MHEAD_RNG_PITCHd_Wd,82.8,467,-11.1,-7.407
$D_GRID,123
$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,-78.2,0.0,0.0,0,93,0.00,0.00,-67.53,0.000,2,0.000,0.000,37,2166,2742
$GC,96,-0.78,-78.2,2.2,-2.5,11,164,13.57,2.85,-47.70,0.000,4,0.196,0.131,2354,3563,3801
$GC,290,-0.78,-78.2,12.1,-6.0,41,296,0.00,2.85,0.00,0.000,6,0.000,0.110,2354,2150,3802
$GC,362,-0.78,-78.2,16.3,-5.8,52,368,0.00,2.95,0.00,0.000,4,0.000,0.138,2354,736,3803
$GC,434,-0.78,-78.2,20.2,-4.9,63,440,0.00,2.78,0.00,0.000,6,0.000,0.094,2354,2169,3803
$GC,629,-0.78,-78.2,29.7,-5.3,79,634,0.00,2.83,0.00,0.000,4,0.000,0.120,2354,3568,3805
$GC,694,-0.78,-78.2,33.6,-6.0,83,701,0.00,2.88,0.00,0.000,6,0.000,0.110,2353,2160,3805
$GC,890,-0.78,-78.2,43.7,-4.6,99,895,0.00,2.97,0.00,0.000,4,0.000,0.139,2354,732,3806
$GC,923,-0.78,-78.2,45.2,-4.9,101,927,0.00,2.80,0.00,0.000,6,0.000,0.096,2354,2175,3806
$GC,1118,-0.78,-78.2,54.3,-4.9,116,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2174,3806
$GC,1308,-0.78,-78.2,64.1,-4.9,131,1313,0.00,2.80,0.00,0.000,4,0.000,0.118,2354,3571,3806
$GC,1340,-0.78,-78.2,65.7,-5.6,133,1345,0.00,2.88,0.00,0.000,6,0.000,0.117,2354,2151,3806
$GC,1536,-0.78,-78.2,75.9,-5.5,148,1540,0.00,2.92,0.00,0.000,4,0.000,0.138,2354,741,3806
$GC,1587,-0.78,-78.2,78.8,-5.7,151,1594,0.00,2.78,0.00,0.000,6,0.000,0.095,2354,2158,3806
$GC,1783,-0.78,-78.2,89.3,-5.0,167,1788,0.00,2.83,0.00,0.000,4,0.000,0.119,2354,3564,3806
$GC,1848,-0.78,-78.2,92.9,-5.7,171,1855,0.00,2.88,0.00,0.000,6,0.000,0.113,2354,2160,3805
$STATE,2004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2006,begin apogee
$GC,2011,-0.31,0.0,100.6,4.9,184,2079,0.55,0.00,61.70,0.745,6,0.131,0.000,2459,2061,3484
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2080,begin climb
$GC,2082,0.78,78.2,102.1,0.0,190,2151,1.20,0.00,60.72,0.729,6,0.107,0.000,2698,2055,3165
$GC,2340,0.87,161.3,89.0,5.5,211,2413,0.00,2.92,63.45,0.717,4,0.000,0.100,2698,3492,2825
$GC,2445,0.87,161.3,81.2,9.2,219,2452,0.10,2.78,0.00,0.000,6,0.084,0.089,2721,2072,2825
$GC,2640,0.87,161.3,62.3,9.1,235,2645,0.00,2.90,0.00,0.000,4,0.000,0.129,2720,660,2825
$GC,2753,0.87,161.3,50.9,10.7,243,2757,0.00,2.67,0.00,0.000,6,0.000,0.077,2720,2084,2824
$GC,2948,0.87,161.3,32.3,9.0,258,2952,0.00,2.75,0.00,0.000,4,0.000,0.105,2720,3485,2824
$GC,2966,0.87,161.3,30.5,9.5,259,2974,0.00,2.78,0.00,0.000,6,0.000,0.089,2720,2064,2824
$GC,3166,0.87,161.3,12.3,8.5,281,3173,0.00,2.85,0.00,0.000,4,0.000,0.126,2720,661,2824
$STATE,3269,end climb,SURFACE_DEPTH_REACHED
$STATE,3270,begin surface coast
$FINISH,1.7,1.020130
$STATE,3337,end surface coast,CONTROL_FINISHED_OK
$STATE,3337,begin surface
$SM_CCo,3360,205.70,0.643,0,0,1240,550.21
$SM_GC,1.36,0.00,0.00,205.70,0.000,0.000,0.643,36,2169,1240,-11.47,0.23,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2094
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.9,23.949
$10V_AH,10.2,6.333
$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,27.775,62.700,185.875,205.700,0.000,32.578,31.249,97.331,2.250,0.000,0.000,16.976,586.810,1912.051,548.389,526.276,282.635,33.338,878.042,0.000,527.327,0.000,5.351
$DEVICE_MAMPS,195.585,141.128,744.757,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9555,307
$CFSIZE,260034560,252465152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,052958,4739.376,-12252.209,11,2.1,30,18.3