version: 66.02
glider: 22
mission: 2
dive: 160
start: 9 26 107 9 5 29
data:
$ID,22
$MISSION,2
$DIVE,160
$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,-112208.7
$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,9
$R_STBD_OVSHOOT,15
$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
$GPS1,085953,4739.342,-12253.132,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.7
$GPS2,090405,4739.327,-12253.133,17,2.3,36,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,0.275
$KALMAN_X,26745.7,237.4,164.1,-27326.2,-139.9
$KALMAN_Y,6203.6,1.0,114.3,-6989.3,-264.5
$MHEAD_RNG_PITCHd_Wd,347.0,273,-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,-78.2,0.0,0.0,0,92,0.00,0.00,-67.22,0.000,2,0.000,0.000,36,2168,2731
$GC,95,-0.78,-78.2,2.0,-1.8,11,168,13.70,2.90,-49.00,0.000,4,0.199,0.129,2356,3565,3803
$GC,181,-0.78,-78.2,5.0,-8.6,25,188,0.00,2.88,0.00,0.000,6,0.000,0.107,2356,2141,3804
$GC,254,-0.78,-78.2,9.3,-5.6,36,260,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,730,3804
$GC,359,-0.78,-78.2,15.1,-5.4,52,365,0.00,2.75,0.00,0.000,6,0.000,0.089,2356,2159,3805
$GC,431,-0.78,-78.2,18.4,-4.7,63,437,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3562,3805
$GC,496,-0.78,-78.2,22.0,-5.3,71,501,0.00,2.83,0.00,0.000,6,0.000,0.107,2356,2146,3806
$GC,698,-0.78,-78.2,33.1,-5.9,87,703,0.00,2.95,0.00,0.000,4,0.000,0.138,2356,731,3806
$GC,749,-0.78,-78.2,36.3,-6.6,90,757,0.00,2.78,0.00,0.000,6,0.000,0.092,2356,2149,3806
$GC,946,-0.78,-78.2,47.6,-5.8,106,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2149,3807
$GC,1135,-0.78,-78.2,57.4,-4.8,121,1139,0.00,2.85,0.00,0.000,4,0.000,0.117,2357,3572,3807
$GC,1234,-0.78,-78.2,62.8,-5.5,128,1238,0.00,2.88,0.00,0.000,6,0.000,0.107,2356,2137,3807
$GC,1429,-0.78,-78.2,73.2,-5.5,143,1434,0.00,2.92,0.00,0.000,4,0.000,0.137,2356,727,3807
$GC,1480,-0.78,-78.2,76.2,-6.2,146,1488,0.00,2.78,0.00,0.000,6,0.000,0.093,2356,2151,3807
$GC,1677,-0.78,-78.2,86.3,-4.7,162,1681,0.00,2.83,0.00,0.000,4,0.000,0.117,2357,3563,3807
$GC,1722,-0.78,-78.2,88.6,-5.4,165,1727,0.00,2.85,0.00,0.000,6,0.000,0.108,2356,2143,3807
$GC,1918,-0.78,-78.2,97.9,-4.6,180,1922,0.00,2.92,0.00,0.000,4,0.000,0.138,2356,730,3807
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1968,-0.31,0.0,100.1,4.8,183,2035,0.50,0.00,62.10,0.744,6,0.125,0.000,2455,2063,3484
$STATE,2036,end apogee,CONTROL_FINISHED_OK
$STATE,2036,begin climb
$GC,2038,0.78,78.2,101.4,0.0,189,2102,1.17,0.00,60.72,0.732,6,0.104,0.000,2694,2063,3165
$GC,2288,0.84,136.5,89.0,6.1,209,2340,0.00,3.00,44.67,0.726,4,0.000,0.116,2693,634,2926
$GC,2374,0.84,136.5,83.0,8.0,216,2378,0.00,2.67,0.00,0.000,6,0.000,0.074,2693,2056,2925
$GC,2576,0.84,136.5,67.7,7.6,232,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2056,2925
$GC,2766,0.84,136.5,53.9,7.7,247,2771,0.00,2.78,0.00,0.000,4,0.000,0.107,2693,3462,2925
$GC,2798,0.84,136.5,51.0,8.9,249,2802,0.00,2.75,0.00,0.000,6,0.000,0.088,2693,2046,2925
$GC,3000,0.86,154.8,36.3,7.0,265,3020,0.12,2.92,13.68,0.724,4,0.071,0.123,2721,624,2852
$GC,3058,0.86,154.8,31.7,8.4,269,3063,0.00,2.67,0.00,0.000,6,0.000,0.071,2721,2062,2851
$GC,3256,0.86,154.8,15.7,8.4,288,3263,0.00,2.75,0.00,0.000,4,0.000,0.102,2722,3470,2852
$GC,3315,0.86,154.8,10.9,8.6,297,3322,0.00,2.72,0.00,0.000,6,0.000,0.083,2722,2047,2851
$GC,3387,0.89,176.0,5.7,6.9,308,3401,0.00,0.00,11.55,0.711,2,0.000,0.000,2722,2046,2787
$STATE,3401,end climb,SURFACE_DEPTH_REACHED
$STATE,3401,begin surface coast
$FINISH,1.5,1.020174
$STATE,3486,end surface coast,CONTROL_FINISHED_OK
$STATE,3486,begin surface
$SM_CCo,3506,196.55,0.644,0,0,1240,550.21
$SM_GC,1.48,0.00,0.00,196.55,0.000,0.000,0.644,37,2158,1240,-11.47,0.25,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2098
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.2,7.6
$24V_AH,23.9,22.419
$10V_AH,10.2,5.894
$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,27.925,67.975,192.725,196.550,0.000,32.578,37.516,82.361,2.250,0.000,0.000,37.625,622.483,1992.434,535.598,578.622,274.675,33.336,890.923,0.000,558.840,0.000,5.346
$DEVICE_MAMPS,198.653,138.827,743.990,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,213.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9552,323
$CFSIZE,260034560,252944384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,100817,4739.540,-12253.183,11,2.9,30,18.3