version: 66.02
glider: 22
mission: 2
dive: 159
start: 9 26 107 7 59 38
data:
$ID,22
$MISSION,2
$DIVE,159
$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,-112170.45
$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,11
$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
$GPS1,075337,4739.531,-12253.529,12,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.7
$GPS2,075814,4739.520,-12253.521,13,1.5,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.275,0.024
$KALMAN_X,26913.5,235.1,223.2,-28036.6,5.5
$KALMAN_Y,6512.7,23.9,168.0,-7017.2,-137.9
$MHEAD_RNG_PITCHd_Wd,66.8,409,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.78,-78.2,0.0,0.0,0,98,0.00,0.00,-73.12,0.000,2,0.000,0.000,39,2166,2849
$GC,101,-0.78,-78.2,2.2,-2.3,12,168,13.68,3.05,-43.20,0.000,4,0.199,0.145,2354,732,3803
$GC,379,-0.78,-78.2,17.7,-6.0,55,386,0.00,2.75,0.00,0.000,6,0.000,0.089,2352,2158,3805
$GC,450,-0.78,-78.2,21.4,-4.8,64,455,0.00,2.85,0.00,0.000,4,0.000,0.121,2354,3564,3805
$GC,541,-0.78,-78.2,26.6,-5.8,70,549,0.00,2.85,0.00,0.000,6,0.000,0.103,2354,2149,3805
$GC,737,-0.78,-78.2,36.0,-4.7,86,742,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,731,3806
$GC,822,-0.78,-78.2,40.2,-5.3,92,829,0.00,2.78,0.00,0.000,6,0.000,0.091,2353,2155,3806
$GC,1021,-0.78,-78.2,50.1,-5.3,108,1025,0.00,2.83,0.00,0.000,4,0.000,0.118,2354,3564,3807
$GC,1085,-0.78,-78.2,54.4,-6.2,112,1092,0.00,2.88,0.00,0.000,6,0.000,0.106,2354,2143,3807
$GC,1281,-0.78,-78.2,65.4,-5.6,128,1286,0.00,2.95,0.00,0.000,4,0.000,0.140,2353,731,3807
$GC,1306,-0.78,-78.2,66.8,-5.7,129,1314,0.00,2.80,0.00,0.000,6,0.000,0.094,2354,2157,3807
$GC,1503,-0.78,-78.2,77.2,-5.3,145,1507,0.00,2.83,0.00,0.000,4,0.000,0.118,2354,3571,3807
$GC,1555,-0.78,-78.2,80.3,-6.1,149,1560,0.00,2.85,0.00,0.000,6,0.000,0.107,2354,2146,3807
$GC,1750,-0.78,-78.2,91.5,-5.7,164,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2146,3807
$STATE,1900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1900,begin apogee
$GC,1905,-0.31,0.0,100.2,5.7,176,1974,0.55,0.00,62.30,0.744,6,0.120,0.000,2460,2038,3484
$STATE,1975,end apogee,CONTROL_FINISHED_OK
$STATE,1975,begin climb
$GC,1977,0.78,78.2,101.9,0.0,182,2042,1.15,0.00,61.40,0.726,6,0.100,0.000,2696,2033,3164
$GC,2226,0.81,100.7,87.8,6.9,202,2251,0.00,2.88,17.10,0.735,4,0.000,0.098,2696,3467,3072
$GC,2290,0.81,100.7,83.1,7.9,207,2294,0.00,2.75,0.00,0.000,6,0.000,0.083,2696,2044,3072
$GC,2492,0.83,127.9,69.0,6.8,223,2518,0.00,3.00,20.65,0.726,4,0.000,0.128,2695,634,2961
$GC,2562,0.83,127.9,63.7,7.8,228,2570,0.00,2.70,0.00,0.000,6,0.000,0.074,2696,2054,2961
$GC,2759,0.87,161.9,50.3,6.6,244,2791,0.12,2.80,25.77,0.713,4,0.072,0.100,2726,3470,2823
$GC,2808,0.87,161.9,46.0,8.9,247,2816,0.00,2.78,0.00,0.000,6,0.000,0.082,2726,2049,2823
$GC,3005,0.87,161.9,27.7,9.4,263,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2049,2822
$GC,3200,0.87,161.9,10.3,8.4,286,3207,0.00,2.85,0.00,0.000,4,0.000,0.125,2725,634,2822
$GC,3265,0.89,177.4,5.4,7.1,296,3274,0.00,2.65,3.08,0.752,2,0.000,0.072,2725,2062,2805
$STATE,3274,end climb,SURFACE_DEPTH_REACHED
$STATE,3274,begin surface coast
$FINISH,2.7,1.020588
$STATE,3325,end surface coast,CONTROL_FINISHED_OK
$STATE,3327,begin surface
$SM_CCo,3347,203.02,0.644,0,0,1241,550.21
$SM_GC,1.51,0.00,0.00,203.02,0.000,0.000,0.644,36,2168,1241,-11.47,0.51,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2063
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.9,22.334
$10V_AH,10.2,5.868
$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,27.950,57.150,190.300,203.025,0.000,32.662,36.429,114.536,2.000,0.000,0.000,30.495,582.297,1906.371,546.717,540.970,299.435,33.342,876.038,0.000,525.543,0.000,5.352
$DEVICE_MAMPS,198.653,144.963,751.660,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9596,305
$CFSIZE,260034560,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,085953,4739.342,-12253.132,12,2.3,31,18.3