version: 66.02
glider: 22
mission: 2
dive: 165
start: 9 26 107 14 58 25
data:
$ID,22
$MISSION,2
$DIVE,165
$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,-112340.74
$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,7
$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
$GPS1,145046,4739.562,-12252.598,9,8.6,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.4
$GPS2,145701,4739.532,-12252.584,41,1.0,46,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.275
$KALMAN_X,27275.2,99.5,-149.3,-26730.1,203.8
$KALMAN_Y,6337.4,-104.6,-140.0,-6389.1,222.1
$MHEAD_RNG_PITCHd_Wd,156.9,258,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.78,-78.2,0.0,0.0,0,93,0.00,0.00,-68.12,0.000,2,0.000,0.000,36,2136,2755
$GC,96,-0.78,-78.2,2.3,-2.6,11,163,13.75,2.92,-44.78,0.000,4,0.201,0.129,2353,3567,3805
$GC,415,-0.78,-78.2,19.7,-5.8,60,422,0.00,2.85,0.00,0.000,6,0.000,0.104,2353,2140,3807
$GC,484,-0.78,-78.2,23.6,-5.4,66,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2140,3808
$GC,674,-0.78,-78.2,33.3,-5.0,81,679,0.00,2.95,0.00,0.000,4,0.000,0.141,2353,730,3808
$GC,720,-0.78,-78.2,35.9,-5.9,84,724,0.00,2.75,0.00,0.000,6,0.000,0.091,2353,2161,3808
$GC,915,-0.78,-78.2,46.7,-5.3,99,920,0.00,2.83,0.00,0.000,4,0.000,0.117,2353,3566,3808
$GC,993,-0.78,-78.2,51.5,-5.5,104,1000,0.00,2.88,0.00,0.000,6,0.000,0.107,2353,2148,3808
$GC,1189,-0.78,-78.2,61.6,-4.9,120,1194,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,726,3808
$GC,1260,-0.78,-78.2,65.5,-5.8,125,1268,0.00,2.80,0.00,0.000,6,0.000,0.094,2353,2155,3808
$GC,1457,-0.78,-78.2,76.1,-5.7,141,1461,0.00,2.83,0.00,0.000,4,0.000,0.118,2354,3566,3808
$GC,1502,-0.78,-78.2,79.1,-6.8,144,1507,0.00,2.85,0.00,0.000,6,0.000,0.109,2353,2148,3808
$GC,1698,-0.78,-78.2,89.9,-5.5,159,1702,0.00,2.92,0.00,0.000,4,0.000,0.138,2353,730,3809
$GC,1750,-0.78,-78.2,92.7,-5.1,163,1755,0.00,2.78,0.00,0.000,6,0.000,0.095,2353,2163,3808
$STATE,1907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1907,begin apogee
$GC,1912,-0.31,0.0,100.2,5.1,175,1981,0.55,0.00,62.38,0.746,6,0.128,0.000,2459,2039,3484
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1983,0.78,78.2,101.9,0.0,181,2056,1.15,2.95,61.03,0.729,4,0.106,0.116,2692,622,3164
$GC,2114,0.85,140.8,96.7,6.0,191,2171,0.08,2.72,47.90,0.720,6,0.057,0.074,2719,2056,2908
$GC,2359,0.85,140.8,76.3,9.1,211,2364,0.00,2.78,0.00,0.000,4,0.000,0.103,2719,3470,2908
$GC,2404,0.85,140.8,72.1,9.6,214,2409,0.00,2.78,0.00,0.000,6,0.000,0.087,2719,2039,2908
$GC,2606,0.85,140.8,54.9,8.5,230,2611,0.00,2.88,0.00,0.000,4,0.000,0.127,2718,631,2907
$GC,2684,0.85,140.8,47.8,9.6,235,2692,0.00,2.70,0.00,0.000,6,0.000,0.074,2719,2060,2907
$GC,2880,0.85,140.8,30.7,8.8,251,2884,0.00,2.75,0.00,0.000,4,0.000,0.102,2719,3471,2907
$GC,2898,0.85,140.8,28.9,8.9,252,2906,0.00,2.78,0.00,0.000,6,0.000,0.085,2719,2047,2907
$GC,3099,0.86,148.9,13.2,7.2,274,3112,0.00,2.92,5.57,0.736,4,0.000,0.127,2719,626,2876
$GC,3178,0.89,178.1,7.8,6.7,286,3209,0.00,2.70,22.10,0.694,6,0.000,0.076,2719,2067,2757
$STATE,3233,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,1.0,1.020843
$STATE,3380,end surface coast,CONTROL_FINISHED_OK
$STATE,3380,begin surface
$SM_CCo,3400,196.18,0.641,0,0,1240,550.21
$SM_GC,1.47,0.00,0.00,196.18,0.000,0.000,0.641,41,2172,1240,-11.45,0.62,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2081
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.4,7.7
$24V_AH,23.9,22.884
$10V_AH,10.2,6.028
$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,27.900,62.700,198.975,196.175,0.000,65.223,58.179,81.833,1.500,0.000,0.000,46.258,601.557,1969.139,534.307,587.098,326.934,33.336,886.363,0.000,557.655,0.000,5.348
$DEVICE_MAMPS,200.954,141.128,746.291,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,209.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9577,317
$CFSIZE,260034560,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,155909,4739.355,-12252.412,14,1.7,14,18.3