version: 66.02
glider: 22
mission: 2
dive: 166
start: 9 26 107 16 4 32
data:
$ID,22
$MISSION,2
$DIVE,166
$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,-112375.49
$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
$GPS1,155909,4739.355,-12252.412,14,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.5
$GPS2,160308,4739.356,-12252.410,17,1.1,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.276,-0.014
$KALMAN_X,27336.3,88.3,-33.0,-26673.7,214.9
$KALMAN_Y,6518.7,-46.6,7.7,-7105.6,219.2
$MHEAD_RNG_PITCHd_Wd,248.8,205,-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,-68.12,0.000,2,0.000,0.000,41,2172,2761
$GC,96,-0.78,-78.2,2.4,-2.9,11,169,13.70,3.12,-48.83,0.000,4,0.199,0.150,2356,724,3804
$GC,342,-0.78,-78.2,15.3,-6.1,49,348,0.00,2.75,0.00,0.000,6,0.000,0.089,2355,2154,3805
$GC,414,-0.78,-78.2,18.9,-5.1,60,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2154,3805
$GC,489,-0.78,-78.2,22.7,-5.0,68,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2154,3806
$GC,680,-0.78,-78.2,33.2,-5.7,83,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2154,3807
$GC,869,-0.78,-78.2,42.9,-5.0,98,873,0.00,2.83,0.00,0.000,4,0.000,0.117,2356,3563,3807
$GC,920,-0.78,-78.2,45.8,-6.4,101,927,0.00,2.88,0.00,0.000,6,0.000,0.107,2355,2143,3807
$GC,1116,-0.78,-78.2,55.6,-4.9,117,1121,0.00,2.95,0.00,0.000,4,0.000,0.137,2355,722,3807
$GC,1181,-0.78,-78.2,59.0,-5.5,121,1188,0.00,2.80,0.00,0.000,6,0.000,0.094,2356,2149,3807
$GC,1377,-0.78,-78.2,68.9,-5.0,137,1381,0.00,2.85,0.00,0.000,4,0.000,0.120,2356,3565,3807
$GC,1436,-0.78,-78.2,72.3,-6.3,141,1441,0.00,2.85,0.00,0.000,6,0.000,0.110,2355,2145,3808
$GC,1631,-0.78,-78.2,81.8,-5.0,156,1636,0.00,2.92,0.00,0.000,4,0.000,0.137,2355,732,3808
$GC,1683,-0.78,-78.2,84.4,-5.4,159,1690,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2148,3808
$GC,1879,-0.78,-78.2,94.2,-4.7,175,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2148,3807
$STATE,1990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1991,begin apogee
$GC,1996,-0.31,0.0,100.3,5.3,184,2065,0.55,0.00,62.42,0.746,6,0.131,0.000,2460,2046,3484
$STATE,2066,end apogee,CONTROL_FINISHED_OK
$STATE,2066,begin climb
$GC,2068,0.78,78.2,102.0,0.0,190,2141,1.15,2.97,61.03,0.732,4,0.104,0.120,2695,633,3164
$GC,2180,0.87,159.3,98.1,5.5,199,2249,0.10,2.67,62.12,0.725,6,0.070,0.075,2722,2058,2833
$GC,2437,0.87,159.3,75.9,9.0,219,2441,0.00,2.95,0.00,0.000,4,0.000,0.123,2722,625,2833
$GC,2474,0.87,159.3,72.1,9.7,221,2482,0.00,2.70,0.00,0.000,6,0.000,0.074,2722,2050,2832
$GC,2671,0.87,159.3,53.6,9.6,237,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2049,2832
$GC,2861,0.87,159.3,36.2,9.1,252,2865,0.00,2.92,0.00,0.000,4,0.000,0.125,2722,626,2832
$GC,2924,0.87,159.3,29.9,9.7,256,2932,0.00,2.70,0.00,0.000,6,0.000,0.073,2723,2058,2832
$GC,3124,0.87,159.3,13.7,8.7,277,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2058,2832
$GC,3195,0.89,180.3,8.1,6.9,288,3220,0.00,2.85,15.45,0.700,4,0.000,0.107,2722,3457,2747
$STATE,3251,end climb,SURFACE_DEPTH_REACHED
$STATE,3251,begin surface coast
$FINISH,2.3,1.020478
$STATE,3305,end surface coast,CONTROL_FINISHED_OK
$STATE,3305,begin surface
$SM_CCo,3328,194.35,0.642,0,0,1241,550.21
$SM_GC,1.39,0.00,0.00,194.35,0.000,0.000,0.642,39,2130,1241,-11.46,-0.57,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.6,7.7
$24V_AH,23.8,22.970
$10V_AH,10.2,6.052
$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,27.950,51.325,201.025,194.350,0.000,32.599,30.013,81.671,1.000,0.000,0.000,34.126,575.875,1889.614,541.183,542.146,260.541,33.368,877.275,0.000,525.450,0.000,5.351
$DEVICE_MAMPS,199.420,149.565,745.524,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9585,305
$CFSIZE,260034560,252776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,170418,4739.381,-12252.701,10,5.5,29,18.3