version: 66.02
glider: 22
mission: 2
dive: 162
start: 9 26 107 11 28 14
data:
$ID,22
$MISSION,2
$DIVE,162
$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,-112263.62
$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
$GPS1,112305,4739.494,-12252.835,15,3.2,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.2
$GPS2,112650,4739.507,-12252.829,11,1.9,16,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.274,0.040
$KALMAN_X,26618.7,186.2,-82.9,-26527.9,-178.4
$KALMAN_Y,5903.8,-85.1,-130.1,-6032.1,-176.6
$MHEAD_RNG_PITCHd_Wd,63.5,538,-11.1,-7.407
$D_GRID,122
$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,-78.2,0.0,0.0,0,94,0.00,0.00,-67.90,0.000,2,0.000,0.000,37,2165,2738
$GC,97,-0.78,-78.2,2.1,-1.8,11,170,13.57,2.85,-51.12,0.000,4,0.195,0.130,2355,3561,3805
$GC,310,-0.78,-78.2,13.6,-5.2,44,316,0.00,2.85,0.00,0.000,6,0.000,0.107,2354,2139,3806
$GC,382,-0.78,-78.2,17.4,-5.5,55,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2139,3806
$GC,452,-0.78,-78.2,21.8,-6.3,64,457,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,729,3808
$GC,516,-0.78,-78.2,25.7,-6.1,68,524,0.00,2.78,0.00,0.000,6,0.000,0.092,2354,2149,3807
$GC,713,-0.78,-78.2,34.4,-4.7,84,717,0.00,2.85,0.00,0.000,4,0.000,0.120,2355,3563,3808
$GC,812,-0.78,-78.2,40.4,-6.3,91,816,0.00,2.85,0.00,0.000,6,0.000,0.108,2354,2145,3808
$GC,1010,-0.78,-78.2,50.4,-5.3,106,1014,0.00,2.95,0.00,0.000,4,0.000,0.140,2355,731,3808
$GC,1055,-0.78,-78.2,53.0,-5.9,109,1060,0.00,2.78,0.00,0.000,6,0.000,0.094,2354,2161,3808
$GC,1250,-0.78,-78.2,63.7,-5.5,124,1255,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3564,3808
$GC,1309,-0.78,-78.2,67.3,-6.6,128,1314,0.00,2.85,0.00,0.000,6,0.000,0.109,2354,2145,3808
$GC,1505,-0.78,-78.2,78.0,-5.3,143,1509,0.00,2.95,0.00,0.000,4,0.000,0.139,2354,723,3808
$GC,1569,-0.78,-78.2,81.4,-5.3,147,1577,0.00,2.80,0.00,0.000,6,0.000,0.094,2354,2156,3808
$GC,1766,-0.78,-78.2,90.2,-4.6,163,1770,0.00,2.83,0.00,0.000,4,0.000,0.117,2355,3567,3808
$GC,1838,-0.78,-78.2,93.7,-4.8,168,1843,0.00,2.88,0.00,0.000,6,0.000,0.111,2354,2140,3808
$STATE,1981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1981,begin apogee
$GC,1985,-0.31,0.0,100.3,4.8,179,2055,0.52,0.00,62.45,0.745,6,0.123,0.000,2456,2045,3484
$STATE,2056,end apogee,CONTROL_FINISHED_OK
$STATE,2056,begin climb
$GC,2058,0.78,78.2,101.9,0.0,185,2131,1.17,2.92,61.08,0.727,4,0.109,0.099,2693,3468,3165
$GC,2175,0.86,154.0,97.1,5.7,194,2244,0.08,2.80,58.42,0.716,6,0.060,0.085,2718,2042,2856
$GC,2432,0.86,154.0,75.1,8.7,215,2437,0.00,2.90,0.00,0.000,4,0.000,0.129,2717,631,2855
$GC,2490,0.86,154.0,69.5,9.5,219,2495,0.00,2.67,0.00,0.000,6,0.000,0.073,2718,2064,2854
$GC,2692,0.86,154.0,52.5,8.5,235,2697,0.00,2.72,0.00,0.000,4,0.000,0.100,2718,3466,2854
$GC,2724,0.86,154.0,49.5,9.4,237,2732,0.00,2.78,0.00,0.000,6,0.000,0.085,2718,2046,2855
$GC,2920,0.86,154.0,32.0,8.7,253,2925,0.00,2.90,0.00,0.000,4,0.000,0.127,2718,624,2854
$GC,3046,0.86,154.0,21.4,8.7,262,3051,0.00,2.65,0.00,0.000,6,0.000,0.071,2718,2054,2854
$GC,3249,0.93,217.6,6.8,5.9,290,3293,0.00,0.00,41.55,0.680,2,0.000,0.000,2718,2054,2632
$STATE,3293,end climb,SURFACE_DEPTH_REACHED
$STATE,3293,begin surface coast
$FINISH,1.9,1.019853
$STATE,3411,end surface coast,CONTROL_FINISHED_OK
$STATE,3411,begin surface
$SM_CCo,3432,174.48,0.642,0,0,1240,550.21
$SM_GC,1.42,0.00,0.00,174.48,0.000,0.000,0.642,41,2166,1240,-11.45,0.45,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,2086
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.4,7.7
$24V_AH,23.8,22.609
$10V_AH,10.2,5.949
$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,27.750,62.725,223.500,174.475,0.000,32.607,29.825,82.803,2.000,0.000,0.000,16.616,600.966,1897.860,535.513,578.727,265.348,33.335,901.068,0.000,579.021,0.000,5.351
$DEVICE_MAMPS,194.818,139.594,744.757,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9594,315
$CFSIZE,260034560,252887040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,122923,4739.557,-12252.340,10,5.3,29,18.3