version: 66.02
glider: 22
mission: 2
dive: 192
start: 9 27 107 21 41 27
data:
$ID,22
$MISSION,2
$DIVE,192
$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,-113108.41
$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,10
$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
$GPS1,213521,4739.438,-12253.227,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.3
$GPS2,214003,4739.428,-12253.247,38,2.0,38,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.260,0.121
$KALMAN_X,27318.5,106.9,109.1,-27858.9,-130.6
$KALMAN_Y,4137.8,-140.9,66.4,-4545.9,-291.9
$MHEAD_RNG_PITCHd_Wd,46.7,1057,-10.5,-7.407
$D_GRID,118
$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,22,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,100,0.00,0.00,-73.22,0.000,2,0.000,0.000,39,2183,2822
$GC,102,-0.74,-78.2,2.0,-2.4,12,170,13.77,2.85,-45.40,0.000,4,0.200,0.136,2363,3562,3805
$GC,235,-0.74,-78.2,8.0,-6.9,33,242,0.00,2.85,0.00,0.000,6,0.000,0.113,2363,2163,3806
$GC,307,-0.74,-78.2,11.8,-5.2,44,314,0.00,3.00,0.00,0.000,4,0.000,0.143,2363,741,3806
$GC,373,-0.74,-78.2,15.1,-4.6,54,379,0.00,2.80,0.00,0.000,6,0.000,0.097,2363,2177,3806
$GC,445,-0.74,-78.2,18.3,-4.3,65,451,0.00,3.03,0.00,0.000,4,0.000,0.136,2363,741,3806
$GC,484,-0.74,-78.2,20.4,-5.4,71,489,0.00,2.80,0.00,0.000,6,0.000,0.098,2363,2169,3806
$GC,679,-0.74,-78.2,30.2,-4.9,86,683,0.00,2.83,0.00,0.000,4,0.000,0.122,2363,3564,3807
$GC,757,-0.74,-78.2,34.8,-6.1,91,764,0.00,2.85,0.00,0.000,6,0.000,0.110,2363,2166,3807
$GC,953,-0.74,-78.2,44.3,-4.6,107,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2166,3807
$GC,1142,-0.74,-78.2,53.5,-4.7,122,1147,0.00,2.97,0.00,0.000,4,0.000,0.140,2363,741,3807
$GC,1175,-0.74,-78.2,55.2,-5.7,124,1179,0.00,2.80,0.00,0.000,6,0.000,0.097,2363,2182,3807
$GC,1370,-0.74,-78.2,64.5,-5.2,139,1375,0.00,2.80,0.00,0.000,4,0.000,0.122,2363,3570,3807
$GC,1423,-0.74,-78.2,67.4,-5.8,143,1427,0.00,2.85,0.00,0.000,6,0.000,0.113,2363,2163,3808
$GC,1618,-0.74,-78.2,77.3,-5.4,158,1623,0.00,2.95,0.00,0.000,4,0.000,0.139,2362,741,3807
$GC,1677,-0.74,-78.2,80.5,-6.0,162,1681,0.00,2.80,0.00,0.000,6,0.000,0.097,2363,2181,3807
$GC,1872,-0.74,-78.2,90.5,-5.0,177,1877,0.00,2.78,0.00,0.000,4,0.000,0.119,2363,3563,3807
$GC,1905,-0.74,-78.2,92.2,-5.7,179,1909,0.00,2.85,0.00,0.000,6,0.000,0.114,2363,2158,3807
$STATE,2074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2074,begin apogee
$GC,2079,-0.31,0.0,100.2,4.4,192,2148,0.50,0.00,62.33,0.745,6,0.127,0.000,2458,2084,3483
$STATE,2148,end apogee,CONTROL_FINISHED_OK
$STATE,2149,begin climb
$GC,2150,0.74,78.2,101.6,0.0,198,2219,1.15,0.00,60.47,0.730,6,0.102,0.000,2689,2078,3165
$GC,2408,0.83,156.5,88.9,5.8,219,2474,0.00,2.95,60.03,0.723,4,0.000,0.112,2689,3514,2844
$GC,2492,0.83,156.5,83.0,8.0,225,2500,0.00,2.83,0.00,0.000,6,0.000,0.089,2689,2085,2844
$GC,2688,0.83,156.5,67.6,7.7,241,2693,0.00,2.88,0.00,0.000,4,0.000,0.127,2688,679,2844
$GC,2759,0.83,156.5,62.0,7.7,246,2767,0.00,2.70,0.00,0.000,6,0.000,0.078,2689,2094,2843
$GC,2956,0.83,157.2,47.8,7.4,262,2961,0.10,2.83,0.00,0.000,4,0.077,0.114,2712,3509,2843
$GC,2988,0.83,157.2,44.9,9.3,264,2993,0.00,2.75,0.00,0.000,6,0.000,0.090,2712,2092,2843
$GC,3190,0.83,157.2,27.0,8.9,280,3195,0.00,2.88,0.00,0.000,4,0.000,0.126,2712,676,2843
$GC,3249,0.83,157.2,21.6,9.5,284,3254,0.00,2.67,0.00,0.000,6,0.000,0.075,2712,2107,2843
$GC,3454,0.90,220.7,5.8,6.1,313,3467,0.00,0.00,11.43,0.712,2,0.000,0.000,2712,2107,2780
$STATE,3468,end climb,SURFACE_DEPTH_REACHED
$STATE,3468,begin surface coast
$FINISH,1.6,1.020438
$STATE,3552,end surface coast,CONTROL_FINISHED_OK
$STATE,3552,begin surface
$SM_CCo,3573,192.05,0.644,0,0,1240,550.21
$SM_GC,1.21,0.00,0.00,192.05,0.000,0.000,0.644,36,2184,1240,-11.47,0.48,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.6,7.8
$24V_AH,23.9,25.292
$10V_AH,10.2,6.726
$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,27.900,68.550,194.250,192.050,0.000,32.588,35.669,110.205,2.000,0.000,0.000,38.660,629.987,2030.287,539.188,585.682,310.209,33.338,894.239,0.000,564.552,0.000,5.350
$DEVICE_MAMPS,200.187,143.429,744.757,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,217.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,328
$CFSIZE,260034560,252030976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,224526,4739.378,-12252.905,40,1.5,40,18.3