version: 66.02
glider: 22
mission: 2
dive: 158
start: 9 26 107 6 56 49
data:
$ID,22
$MISSION,2
$DIVE,158
$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,-112139.33
$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,8
$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
$GPS1,064959,4739.354,-12253.231,13,2.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.9
$GPS2,065526,4739.358,-12253.232,15,1.2,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.244
$KALMAN_X,26939.8,197.7,223.7,-27669.9,130.6
$KALMAN_Y,6821.9,30.8,162.2,-7629.4,22.8
$MHEAD_RNG_PITCHd_Wd,313.8,204,-11.1,-7.407
$D_GRID,119
$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,-0.78,-78.2,0.0,0.0,0,99,0.00,0.00,-73.10,0.000,2,0.000,0.000,38,2138,2857
$GC,102,-0.78,-78.2,2.3,-2.4,12,169,13.65,2.97,-44.17,0.000,4,0.197,0.143,2355,729,3803
$GC,322,-0.78,-78.2,13.7,-5.2,46,328,0.00,2.75,0.00,0.000,6,0.000,0.087,2355,2164,3804
$GC,394,-0.78,-78.2,17.6,-4.8,57,400,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3563,3805
$GC,419,-0.78,-78.2,18.6,-4.0,61,426,0.00,2.83,0.00,0.000,6,0.000,0.103,2355,2147,3805
$GC,496,-0.78,-78.2,22.3,-5.0,70,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2148,3805
$GC,688,-0.78,-78.2,32.6,-5.3,85,693,0.00,2.92,0.00,0.000,4,0.000,0.135,2355,733,3806
$GC,747,-0.78,-78.2,35.9,-5.5,89,751,0.00,2.75,0.00,0.000,6,0.000,0.090,2355,2161,3806
$GC,942,-0.78,-78.2,45.2,-4.5,104,946,0.00,2.83,0.00,0.000,4,0.000,0.117,2355,3568,3807
$GC,967,-0.78,-78.2,46.5,-5.2,105,974,0.00,2.88,0.00,0.000,6,0.000,0.105,2355,2146,3807
$GC,1163,-0.78,-78.2,56.7,-5.5,121,1168,0.00,2.92,0.00,0.000,4,0.000,0.137,2355,731,3807
$GC,1221,-0.78,-78.2,60.0,-5.8,125,1229,0.00,2.78,0.00,0.000,6,0.000,0.092,2355,2154,3807
$GC,1417,-0.78,-78.2,70.4,-5.1,141,1422,0.00,2.83,0.00,0.000,4,0.000,0.117,2355,3566,3807
$GC,1475,-0.78,-78.2,73.5,-5.6,145,1483,0.00,2.88,0.00,0.000,6,0.000,0.107,2355,2146,3807
$GC,1672,-0.78,-78.2,83.0,-5.0,161,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2146,3807
$GC,1864,-0.78,-78.2,94.0,-5.9,176,1869,0.00,2.92,0.00,0.000,4,0.000,0.137,2353,731,3807
$GC,1962,-0.78,-78.2,99.9,-5.8,183,1966,0.00,2.55,0.00,0.000,3,0.000,0.091,2355,2064,3807
$STATE,1967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1967,begin apogee
$GC,1972,-0.31,0.0,100.1,5.4,183,2039,0.50,0.00,62.17,0.745,6,0.126,0.000,2454,2033,3484
$STATE,2040,end apogee,CONTROL_FINISHED_OK
$STATE,2040,begin climb
$GC,2042,0.78,78.2,101.8,0.0,189,2114,1.17,2.92,61.00,0.729,4,0.105,0.114,2692,627,3163
$GC,2153,0.92,208.2,98.6,4.4,198,2265,0.17,2.70,100.00,0.712,6,0.060,0.074,2738,2064,2634
$GC,2453,0.92,208.2,68.6,10.9,222,2458,0.00,2.97,0.00,0.000,4,0.000,0.127,2738,628,2634
$GC,2503,0.92,208.2,62.6,11.3,225,2511,0.00,2.70,0.00,0.000,6,0.000,0.073,2738,2058,2633
$GC,2700,0.92,208.2,41.4,10.9,241,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2058,2633
$GC,2890,0.92,208.2,20.8,10.4,256,2895,0.00,2.92,0.00,0.000,4,0.000,0.122,2738,630,2632
$GC,2922,0.92,208.2,17.4,10.5,259,2929,0.00,2.67,0.00,0.000,6,0.000,0.074,2738,2065,2633
$GC,2994,0.92,208.2,10.6,9.1,270,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2065,2632
$STATE,3064,end climb,SURFACE_DEPTH_REACHED
$STATE,3064,begin surface coast
$FINISH,0.7,1.020469
$STATE,3145,end surface coast,CONTROL_FINISHED_OK
$STATE,3145,begin surface
$SM_CCo,3165,180.73,0.643,0,0,1240,550.21
$SM_GC,1.35,0.00,0.00,180.73,0.000,0.000,0.643,39,2165,1240,-11.46,0.42,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2096
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.1,7.7
$24V_AH,23.8,22.246
$10V_AH,10.2,5.843
$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,27.800,56.775,223.175,180.725,0.000,32.611,40.287,157.131,2.250,0.000,0.000,32.227,563.354,1733.840,540.872,534.193,348.490,33.343,881.740,0.000,518.285,0.000,5.350
$DEVICE_MAMPS,197.119,143.429,744.757,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9586,293
$CFSIZE,260034560,253005824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,075337,4739.531,-12253.529,12,1.4,28,18.3