version: 66.02
glider: 22
mission: 2
dive: 164
start: 9 26 107 13 47 27
data:
$ID,22
$MISSION,2
$DIVE,164
$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,-112293.86
$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,10
$R_STBD_OVSHOOT,13
$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
$GPS1,133532,4739.366,-12252.332,12,1.8,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.6
$GPS2,134603,4739.387,-12252.265,14,1.9,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.272,0.049
$KALMAN_X,26998.7,121.9,-195.5,-26034.3,51.3
$KALMAN_Y,6257.8,-106.3,-198.1,-6525.8,116.4
$MHEAD_RNG_PITCHd_Wd,262.0,226,-11.1,-7.407
$D_GRID,125
$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,-78.2,0.0,0.0,0,94,0.00,0.00,-67.93,0.000,2,0.000,0.000,41,2162,2755
$GC,96,-0.78,-78.2,2.3,-2.8,11,157,13.70,0.00,-43.67,0.000,6,0.199,0.000,2356,2161,3803
$GC,223,-0.78,-78.2,7.8,-5.4,31,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,3804
$GC,294,-0.78,-78.2,11.5,-5.2,42,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2161,3804
$GC,366,-0.78,-78.2,14.9,-4.7,53,372,0.00,2.83,0.00,0.000,4,0.000,0.114,2356,3567,3806
$GC,418,-0.78,-78.2,17.8,-5.6,61,424,0.00,2.85,0.00,0.000,6,0.000,0.107,2356,2146,3806
$GC,488,-0.78,-78.2,21.5,-5.2,70,493,0.00,2.95,0.00,0.000,4,0.000,0.137,2355,728,3806
$GC,554,-0.78,-78.2,24.8,-4.7,75,559,0.00,2.75,0.00,0.000,6,0.000,0.091,2356,2152,3806
$GC,749,-0.78,-78.2,35.0,-4.9,90,754,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3564,3807
$GC,815,-0.78,-78.2,38.4,-5.4,95,820,0.00,2.85,0.00,0.000,6,0.000,0.107,2355,2142,3807
$GC,1010,-0.78,-78.2,48.0,-5.0,110,1015,0.00,2.95,0.00,0.000,4,0.000,0.137,2355,721,3807
$GC,1043,-0.78,-78.2,49.8,-5.8,112,1048,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2155,3807
$GC,1238,-0.78,-78.2,59.4,-5.1,127,1243,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3565,3807
$GC,1283,-0.78,-78.2,62.0,-5.6,130,1290,0.00,2.85,0.00,0.000,6,0.000,0.109,2355,2145,3807
$GC,1479,-0.78,-78.2,72.1,-4.9,146,1484,0.00,2.95,0.00,0.000,4,0.000,0.138,2355,724,3807
$GC,1544,-0.78,-78.2,75.6,-5.5,150,1551,0.00,2.80,0.00,0.000,6,0.000,0.094,2356,2154,3807
$GC,1740,-0.78,-78.2,85.4,-4.9,166,1745,0.00,2.83,0.00,0.000,4,0.000,0.117,2356,3563,3807
$GC,1786,-0.78,-78.2,87.8,-5.3,169,1791,0.00,2.85,0.00,0.000,6,0.000,0.110,2356,2146,3807
$GC,1981,-0.78,-78.2,96.5,-4.5,184,1986,0.00,2.95,0.00,0.000,4,0.000,0.137,2355,723,3807
$GC,2040,-0.78,-78.2,99.1,-4.6,188,2045,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2158,3807
$STATE,2057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2057,begin apogee
$GC,2062,-0.31,0.0,100.0,4.4,189,2131,0.55,0.00,62.28,0.746,6,0.127,0.000,2461,2042,3484
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2134,0.78,78.2,101.0,0.0,195,2204,1.17,2.90,61.22,0.728,4,0.107,0.117,2695,632,3163
$GC,2237,0.84,130.1,96.6,6.2,203,2284,0.00,2.70,39.80,0.724,6,0.000,0.076,2695,2061,2952
$GC,2481,0.85,140.0,79.2,7.2,223,2493,0.00,0.00,7.35,0.749,6,0.000,0.000,2695,2061,2913
$GC,2682,0.85,140.0,64.1,7.6,239,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2061,2912
$GC,2873,0.85,140.0,50.1,7.6,254,2877,0.00,2.90,0.00,0.000,4,0.000,0.119,2695,633,2912
$GC,2904,0.85,140.0,47.5,8.2,256,2908,0.00,2.65,0.00,0.000,6,0.000,0.074,2695,2053,2911
$GC,3106,0.85,142.0,32.4,7.4,272,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2053,2912
$GC,3298,0.93,215.5,20.1,5.7,287,3364,0.17,3.00,57.25,0.691,4,0.071,0.126,2733,633,2604
$GC,3389,0.93,215.5,12.6,9.0,301,3396,0.00,2.70,0.00,0.000,6,0.000,0.077,2734,2061,2603
$GC,3461,0.93,215.5,6.6,7.7,312,3468,0.00,2.80,0.00,0.000,4,0.000,0.111,2734,3463,2603
$STATE,3492,end climb,SURFACE_DEPTH_REACHED
$STATE,3492,begin surface coast
$FINISH,2.4,1.020245
$STATE,3534,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3557,179.12,0.641,0,0,1240,550.21
$SM_GC,1.43,0.00,0.00,179.12,0.000,0.000,0.641,36,2135,1240,-11.47,-0.42,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2090
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.6,7.8
$24V_AH,23.9,22.796
$10V_AH,10.2,6.002
$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,28.125,68.125,227.900,179.125,0.000,97.736,166.444,162.398,1.500,0.000,0.000,14.026,619.946,2127.198,550.696,554.457,563.087,33.341,913.743,0.000,557.090,0.000,5.352
$DEVICE_MAMPS,199.420,138.060,748.592,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,212.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9581,323
$CFSIZE,260034560,252825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,145046,4739.562,-12252.598,9,8.6,28,18.3