version: 66.02
glider: 22
mission: 2
dive: 151
start: 9 25 107 23 14 58
data:
$ID,22
$MISSION,2
$DIVE,151
$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,450
$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,-111985.82
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$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
$GPS1,230937,4739.553,-12253.189,39,1.4,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,231335,4739.536,-12253.218,10,3.4,29,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.284,0.036
$KALMAN_X,25582.0,-57.5,49.6,-25866.9,-61.1
$KALMAN_Y,6700.0,-129.6,-50.6,-6807.5,-187.4
$MHEAD_RNG_PITCHd_Wd,64.4,1026,-10.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,76,0.00,0.00,-50.15,0.000,2,0.000,0.000,38,2109,2770
$GC,79,-0.74,-78.2,2.4,-3.0,8,146,13.68,0.00,-47.00,0.000,6,0.197,0.000,2361,2108,3802
$GC,211,-0.74,-78.2,8.0,-8.8,29,217,0.00,3.03,0.00,0.000,4,0.000,0.137,2360,679,3803
$GC,303,-0.74,-78.2,13.2,-6.4,43,310,0.00,2.75,0.00,0.000,6,0.000,0.087,2361,2110,3804
$GC,375,-0.74,-78.2,16.5,-4.5,54,382,0.00,2.83,0.00,0.000,4,0.000,0.117,2361,3517,3805
$GC,421,-0.74,-78.2,18.8,-5.3,61,427,0.00,2.83,0.00,0.000,6,0.000,0.103,2361,2096,3805
$GC,497,-0.74,-78.2,22.5,-4.9,69,502,0.00,2.95,0.00,0.000,4,0.000,0.137,2360,676,3805
$GC,543,-0.74,-78.2,25.0,-5.7,72,547,0.00,2.78,0.00,0.000,6,0.000,0.091,2361,2110,3805
$GC,738,-0.74,-78.2,35.5,-5.0,87,742,0.00,2.83,0.00,0.000,4,0.000,0.117,2361,3518,3806
$GC,789,-0.74,-78.2,38.4,-6.1,90,797,0.00,2.88,0.00,0.000,6,0.000,0.105,2361,2091,3806
$GC,986,-0.74,-78.2,48.4,-5.7,106,990,0.00,2.95,0.00,0.000,4,0.000,0.138,2361,676,3806
$GC,1011,-0.74,-78.2,49.6,-4.9,107,1018,0.00,2.78,0.00,0.000,6,0.000,0.091,2360,2114,3806
$GC,1207,-0.74,-78.2,59.4,-5.1,123,1211,0.00,2.80,0.00,0.000,4,0.000,0.117,2360,3521,3807
$GC,1278,-0.74,-78.2,63.7,-6.0,128,1285,0.00,2.88,0.00,0.000,6,0.000,0.106,2361,2093,3806
$GC,1474,-0.74,-78.2,74.3,-5.5,144,1479,0.00,2.95,0.00,0.000,4,0.000,0.140,2361,677,3806
$GC,1512,-0.74,-78.2,76.6,-5.6,146,1520,0.00,2.78,0.00,0.000,6,0.000,0.091,2361,2105,3806
$GC,1709,-0.74,-78.2,87.5,-5.5,162,1713,0.00,2.83,0.00,0.000,4,0.000,0.116,2361,3521,3807
$GC,1768,-0.74,-78.2,91.2,-6.7,166,1773,0.00,2.85,0.00,0.000,6,0.000,0.109,2361,2095,3806
$STATE,1948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1949,begin apogee
$GC,1953,-0.31,0.0,100.4,4.8,180,2018,0.50,0.00,61.92,0.747,6,0.125,0.000,2457,1985,3484
$STATE,2019,end apogee,CONTROL_FINISHED_OK
$STATE,2019,begin climb
$GC,2021,0.74,78.2,101.6,0.0,185,2086,1.12,0.00,61.28,0.727,6,0.104,0.000,2686,1982,3165
$GC,2271,0.85,174.8,91.6,5.4,205,2356,0.12,2.92,73.97,0.719,4,0.069,0.095,2715,3419,2771
$GC,2386,0.85,174.8,82.4,9.6,214,2394,0.00,2.80,0.00,0.000,6,0.000,0.085,2715,1995,2771
$GC,2583,0.85,174.8,64.2,10.1,230,2588,0.00,2.92,0.00,0.000,4,0.000,0.130,2715,574,2770
$GC,2634,0.85,174.8,58.7,10.4,233,2642,0.00,2.70,0.00,0.000,6,0.000,0.070,2715,2010,2769
$GC,2831,0.85,174.8,41.2,8.8,249,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2010,2770
$GC,3021,0.85,174.8,23.4,9.0,264,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2010,2770
$GC,3216,0.85,174.8,7.2,8.3,290,3223,0.00,2.95,0.00,0.000,4,0.000,0.125,2715,577,2770
$STATE,3253,end climb,SURFACE_DEPTH_REACHED
$STATE,3253,begin surface coast
$FINISH,1.5,1.020145
$STATE,3347,end surface coast,CONTROL_FINISHED_OK
$STATE,3347,begin surface
$SM_CCo,3370,152.70,0.652,0,0,1648,450.13
$SM_GC,1.46,0.00,0.00,152.70,0.000,0.000,0.652,38,2107,1648,-11.46,0.20,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2114
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,70.3,7.8
$24V_AH,23.8,21.641
$10V_AH,10.2,5.669
$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,27.850,63.075,197.175,152.700,0.000,32.599,32.052,81.782,3.250,0.000,0.000,29.930,596.471,1913.161,492.687,543.030,264.058,33.338,825.877,0.000,530.201,0.000,6.866
$DEVICE_MAMPS,197.119,140.361,747.058,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,310
$CFSIZE,260034560,253206528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,001427,4739.474,-12252.710,12,1.5,12,18.3