version: 66.02
glider: 22
mission: 2
dive: 156
start: 9 26 107 4 52 46
data:
$ID,22
$MISSION,2
$DIVE,156
$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,-112089.77
$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,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
$GPS1,044638,4739.400,-12252.481,36,1.6,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.5
$GPS2,045123,4739.402,-12252.454,10,2.4,29,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.285,-0.033
$KALMAN_X,26664.5,67.7,95.9,-26167.5,274.7
$KALMAN_Y,6963.4,-22.8,20.9,-7497.0,150.7
$MHEAD_RNG_PITCHd_Wd,245.2,941,-10.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,70,0.00,0.00,-44.12,0.000,2,0.000,0.000,39,2160,2626
$GC,73,-0.74,-78.2,2.0,-1.5,7,147,13.70,3.03,-52.60,0.000,4,0.198,0.147,2362,725,3801
$GC,173,-0.74,-78.2,5.5,-6.8,23,180,0.00,2.78,0.00,0.000,6,0.000,0.090,2362,2163,3802
$GC,246,-0.74,-78.2,10.3,-5.8,34,252,0.00,2.83,0.00,0.000,4,0.000,0.117,2362,3563,3802
$GC,365,-0.74,-78.2,16.8,-5.8,52,372,0.00,2.83,0.00,0.000,6,0.000,0.104,2362,2143,3803
$GC,444,-0.74,-78.2,20.9,-5.1,63,448,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,732,3803
$GC,481,-0.74,-78.2,23.0,-5.9,65,489,0.00,2.78,0.00,0.000,6,0.000,0.091,2362,2154,3803
$GC,678,-0.74,-78.2,32.3,-4.7,81,682,0.00,2.83,0.00,0.000,4,0.000,0.117,2362,3561,3804
$GC,737,-0.74,-78.2,35.5,-5.6,85,741,0.00,2.83,0.00,0.000,6,0.000,0.104,2362,2145,3805
$GC,932,-0.74,-78.2,45.6,-5.3,100,937,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,731,3805
$GC,991,-0.74,-78.2,48.8,-5.3,104,996,0.00,2.75,0.00,0.000,6,0.000,0.092,2362,2156,3805
$GC,1186,-0.74,-78.2,59.4,-5.3,119,1191,0.00,2.83,0.00,0.000,4,0.000,0.117,2362,3563,3805
$GC,1245,-0.74,-78.2,63.0,-6.5,123,1250,0.00,2.85,0.00,0.000,6,0.000,0.107,2362,2136,3805
$GC,1441,-0.74,-78.2,73.9,-5.4,138,1445,0.00,2.92,0.00,0.000,4,0.000,0.139,2362,729,3805
$GC,1500,-0.74,-78.2,77.3,-5.9,142,1504,0.00,2.78,0.00,0.000,6,0.000,0.094,2362,2164,3805
$GC,1695,-0.74,-78.2,87.6,-5.1,157,1699,0.00,2.83,0.00,0.000,4,0.000,0.119,2362,3571,3805
$GC,1759,-0.74,-78.2,91.4,-6.0,161,1767,0.00,2.88,0.00,0.000,6,0.000,0.107,2362,2145,3805
$STATE,1917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1917,begin apogee
$GC,1922,-0.31,0.0,100.5,6.0,174,1991,0.50,0.00,61.95,0.746,6,0.123,0.000,2458,2035,3484
$STATE,1992,end apogee,CONTROL_FINISHED_OK
$STATE,1992,begin climb
$GC,1994,0.74,78.2,102.6,0.0,180,2066,1.12,2.92,61.08,0.730,4,0.101,0.097,2688,3464,3164
$GC,2093,0.89,214.9,100.3,4.5,188,2208,0.17,2.72,105.05,0.713,6,0.061,0.078,2731,2043,2606
$GC,2403,0.89,214.9,68.6,10.8,213,2408,0.00,2.90,0.00,0.000,4,0.000,0.129,2731,631,2606
$GC,2480,0.89,214.9,59.7,11.2,218,2488,0.00,2.67,0.00,0.000,6,0.000,0.071,2731,2054,2605
$GC,2677,0.89,214.9,38.4,10.9,234,2681,0.00,2.92,0.00,0.000,4,0.000,0.121,2731,628,2604
$GC,2709,0.89,214.9,34.9,11.1,236,2714,0.00,2.67,0.00,0.000,6,0.000,0.074,2731,2062,2605
$GC,2906,0.89,214.9,15.3,9.4,254,2913,0.00,2.92,0.00,0.000,4,0.000,0.120,2731,628,2605
$GC,2932,0.89,214.9,12.8,9.6,258,2939,0.00,2.67,0.00,0.000,6,0.000,0.074,2731,2061,2605
$GC,3004,0.89,216.0,6.9,7.4,269,3011,0.00,2.75,0.00,0.000,4,0.000,0.104,2731,3466,2605
$STATE,3028,end climb,SURFACE_DEPTH_REACHED
$STATE,3028,begin surface coast
$FINISH,4.0,1.021497
$STATE,3042,end surface coast,CONTROL_FINISHED_OK
$STATE,3042,begin surface
$SM_CCo,3066,131.57,0.648,0,0,1647,450.13
$SM_GC,1.39,0.00,0.00,131.57,0.000,0.000,0.648,38,2139,1647,-11.47,-0.34,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.5,7.7
$24V_AH,23.8,22.065
$10V_AH,10.2,5.795
$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,28.050,73.575,228.075,131.575,0.000,32.590,32.693,128.493,2.000,0.000,0.000,30.247,544.451,1667.468,488.228,519.501,309.720,33.347,824.165,0.000,505.170,0.000,5.350
$DEVICE_MAMPS,197.886,147.264,746.291,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6431,275
$CFSIZE,260034560,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,054705,4739.417,-12252.809,9,3.4,28,18.3