version: 66.02
glider: 22
mission: 2
dive: 152
start: 9 26 107 0 20 22
data:
$ID,22
$MISSION,2
$DIVE,152
$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,-112000.07
$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,7
$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
$GPS1,001427,4739.474,-12252.710,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.9
$GPS2,001857,4739.466,-12252.715,13,1.4,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.265,0.080
$KALMAN_X,25553.8,-90.9,-13.7,-25110.3,-12.1
$KALMAN_Y,6592.7,-146.2,-148.3,-6715.4,-120.8
$MHEAD_RNG_PITCHd_Wd,54.9,391,-11.1,-7.407
$D_GRID,124
$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,-78.2,0.0,0.0,0,69,0.00,0.00,-44.20,0.000,2,0.000,0.000,38,2108,2630
$GC,72,-0.78,-78.2,2.0,-1.4,7,152,13.77,2.88,-55.20,0.000,4,0.201,0.126,2355,3513,3804
$GC,204,-0.78,-78.2,7.8,-7.9,28,211,0.00,2.83,0.00,0.000,6,0.000,0.102,2354,2093,3805
$GC,276,-0.78,-78.2,12.4,-6.4,39,283,0.00,2.95,0.00,0.000,4,0.000,0.139,2354,682,3805
$GC,328,-0.78,-78.2,15.6,-6.5,47,335,0.00,2.75,0.00,0.000,6,0.000,0.090,2355,2112,3805
$GC,400,-0.78,-78.2,18.9,-3.9,58,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2111,3806
$GC,476,-0.78,-78.2,22.8,-5.6,66,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2112,3806
$GC,667,-0.78,-78.2,32.6,-5.3,81,671,0.00,2.83,0.00,0.000,4,0.000,0.117,2355,3519,3806
$GC,712,-0.78,-78.2,35.3,-5.7,84,717,0.00,2.85,0.00,0.000,6,0.000,0.107,2354,2094,3807
$GC,907,-0.78,-78.2,46.3,-5.9,99,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2094,3807
$GC,1097,-0.78,-78.2,55.0,-4.1,114,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2094,3807
$GC,1287,-0.78,-78.2,64.7,-4.8,129,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2094,3807
$GC,1477,-0.78,-78.2,73.8,-4.5,144,1481,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,678,3807
$GC,1509,-0.78,-78.2,75.3,-4.7,146,1513,0.00,2.75,0.00,0.000,6,0.000,0.092,2356,2108,3807
$GC,1704,-0.78,-78.2,84.6,-5.1,161,1708,0.00,2.80,0.00,0.000,4,0.000,0.118,2355,3518,3807
$GC,1762,-0.78,-78.2,88.0,-5.5,165,1769,0.00,2.88,0.00,0.000,6,0.000,0.107,2355,2094,3807
$GC,1958,-0.78,-78.2,97.9,-4.7,181,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2094,3807
$STATE,2007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2007,begin apogee
$GC,2011,-0.31,0.0,100.2,4.6,185,2081,0.55,0.00,62.38,0.745,6,0.126,0.000,2460,1994,3484
$STATE,2082,end apogee,CONTROL_FINISHED_OK
$STATE,2082,begin climb
$GC,2084,0.78,78.2,101.4,0.0,191,2154,1.17,0.00,61.33,0.733,6,0.100,0.000,2698,1990,3165
$GC,2342,0.86,149.8,88.2,5.8,212,2402,0.00,0.00,55.08,0.724,6,0.000,0.000,2698,1989,2872
$GC,2591,0.86,149.8,69.5,8.0,232,2595,0.00,2.80,0.00,0.000,4,0.000,0.096,2698,3421,2872
$GC,2630,0.86,149.8,66.0,9.0,235,2634,0.00,2.75,0.00,0.000,6,0.000,0.083,2698,1989,2871
$GC,2832,0.86,149.8,50.3,7.6,251,2836,0.00,2.88,0.00,0.000,4,0.000,0.127,2697,582,2872
$GC,2896,0.86,149.8,44.9,8.1,255,2904,0.00,2.70,0.00,0.000,6,0.000,0.074,2697,2011,2871
$GC,3092,0.86,149.8,30.3,7.5,271,3097,0.00,2.75,0.00,0.000,4,0.000,0.104,2698,3413,2871
$GC,3124,0.86,149.8,27.7,8.2,273,3132,0.00,2.75,0.00,0.000,6,0.000,0.085,2698,2000,2871
$GC,3325,0.87,156.4,12.4,7.3,296,3338,0.00,2.95,4.60,0.746,4,0.000,0.127,2697,580,2846
$GC,3377,0.88,167.6,8.9,7.2,304,3391,0.10,2.67,8.43,0.726,6,0.073,0.075,2724,2005,2801
$STATE,3435,end climb,SURFACE_DEPTH_REACHED
$STATE,3435,begin surface coast
$FINISH,2.0,1.020180
$STATE,3522,end surface coast,CONTROL_FINISHED_OK
$STATE,3522,begin surface
$SM_CCo,3542,153.95,0.655,0,0,1648,450.13
$SM_GC,1.46,0.00,0.00,153.95,0.000,0.000,0.655,39,2116,1648,-11.46,0.45,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.2,7.7
$24V_AH,23.8,21.721
$10V_AH,10.2,5.693
$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,28.050,51.100,191.800,153.950,0.000,32.602,38.363,120.305,2.000,0.000,0.000,13.627,618.886,2067.758,494.743,520.295,314.137,33.330,819.267,0.000,526.845,0.000,5.348
$DEVICE_MAMPS,200.954,140.361,745.524,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,215.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9575,326
$CFSIZE,260034560,253177856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,012305,4739.608,-12252.094,13,3.1,32,18.3