version: 66.02
glider: 22
mission: 2
dive: 163
start: 9 26 107 12 34 39
data:
$ID,22
$MISSION,2
$DIVE,163
$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,-112279.21
$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,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
$GPS1,122923,4739.557,-12252.340,10,5.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.3
$GPS2,123315,4739.553,-12252.297,14,1.6,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,-0.251
$KALMAN_X,26674.2,141.0,-183.4,-25774.9,-83.9
$KALMAN_Y,5957.1,-109.1,-204.3,-5904.1,-60.1
$MHEAD_RNG_PITCHd_Wd,186.7,206,-11.1,-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,-0.78,-78.2,0.0,0.0,0,88,0.00,0.00,-61.90,0.000,2,0.000,0.000,41,2166,2623
$GC,91,-0.78,-78.2,2.3,-2.3,10,164,13.65,2.85,-50.88,0.000,4,0.198,0.128,2358,3557,3805
$GC,171,-0.78,-78.2,4.5,-5.9,23,178,0.00,2.85,0.00,0.000,6,0.000,0.110,2356,2148,3806
$GC,243,-0.78,-78.2,8.8,-5.3,34,250,0.00,3.00,0.00,0.000,4,0.000,0.141,2356,723,3806
$GC,289,-0.78,-78.2,11.4,-5.8,41,296,0.00,2.78,0.00,0.000,6,0.000,0.092,2356,2154,3806
$GC,361,-0.78,-78.2,16.1,-6.5,52,368,0.00,2.85,0.00,0.000,4,0.000,0.120,2356,3567,3807
$GC,440,-0.78,-78.2,21.0,-6.2,63,445,0.00,2.88,0.00,0.000,6,0.000,0.109,2356,2143,3808
$GC,635,-0.78,-78.2,31.6,-5.3,78,640,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,729,3808
$GC,734,-0.78,-78.2,36.9,-4.9,85,739,0.00,2.78,0.00,0.000,6,0.000,0.093,2356,2163,3808
$GC,929,-0.78,-78.2,46.2,-4.8,100,934,0.00,2.80,0.00,0.000,4,0.000,0.119,2356,3561,3809
$GC,995,-0.78,-78.2,49.8,-5.3,105,1005,0.00,2.83,0.00,0.000,6,0.000,0.108,2356,2146,3809
$GC,1200,-0.78,-78.2,59.8,-4.7,121,1205,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,731,3809
$GC,1246,-0.78,-78.2,62.4,-5.9,124,1250,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2160,3809
$GC,1441,-0.78,-78.2,72.2,-4.7,139,1446,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3564,3809
$GC,1479,-0.78,-78.2,74.5,-6.2,141,1486,0.00,2.88,0.00,0.000,6,0.000,0.110,2356,2149,3809
$GC,1675,-0.78,-78.2,84.2,-4.9,157,1680,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,724,3809
$GC,1741,-0.78,-78.2,87.6,-5.3,162,1746,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2158,3809
$GC,1936,-0.78,-78.2,97.4,-4.9,177,1941,0.00,2.80,0.00,0.000,4,0.000,0.119,2356,3566,3809
$STATE,1987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1987,begin apogee
$GC,1995,-0.31,0.0,100.2,5.7,181,2062,0.55,0.00,62.55,0.744,6,0.133,0.000,2460,2042,3483
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,0.78,78.2,101.6,0.0,187,2137,1.15,2.97,61.05,0.728,4,0.105,0.122,2693,633,3164
$GC,2165,0.84,137.1,97.8,6.1,195,2217,0.00,2.70,45.50,0.719,6,0.000,0.077,2693,2056,2923
$GC,2414,0.84,137.1,79.5,7.7,215,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2057,2922
$GC,2605,0.84,137.1,64.6,7.7,230,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2057,2922
$GC,2794,0.85,143.6,50.0,7.3,245,2807,0.10,2.97,4.35,0.759,4,0.080,0.125,2717,630,2897
$GC,2833,0.85,143.6,46.7,8.6,248,2837,0.00,2.67,0.00,0.000,6,0.000,0.073,2717,2063,2898
$GC,3028,0.85,143.6,29.8,8.9,263,3033,0.00,2.78,0.00,0.000,4,0.000,0.104,2717,3463,2898
$GC,3059,0.85,143.6,26.8,8.8,265,3067,0.00,2.75,0.00,0.000,6,0.000,0.084,2717,2044,2898
$GC,3261,0.85,143.6,10.7,7.9,289,3269,0.00,2.85,0.00,0.000,4,0.000,0.127,2717,631,2898
$STATE,3332,end climb,SURFACE_DEPTH_REACHED
$STATE,3332,begin surface coast
$FINISH,4.4,1.021332
$STATE,3347,end surface coast,CONTROL_FINISHED_OK
$STATE,3347,begin surface
$SM_CCo,3369,221.10,0.646,0,0,1241,550.21
$SM_GC,1.42,0.00,0.00,221.10,0.000,0.000,0.646,41,2161,1241,-11.45,0.31,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2094
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.8,22.695
$10V_AH,10.2,5.973
$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,27.875,74.175,173.450,221.100,0.000,32.589,32.304,89.216,1.750,0.000,0.000,14.964,592.768,1917.128,546.413,536.460,277.842,33.337,895.042,0.000,534.109,0.000,5.369
$DEVICE_MAMPS,197.886,141.128,758.563,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9588,302
$CFSIZE,260034560,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,133532,4739.366,-12252.332,12,1.8,29,18.3