version: 66.02
glider: 22
mission: 2
dive: 167
start: 9 26 107 17 9 44
data:
$ID,22
$MISSION,2
$DIVE,167
$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,-112409.13
$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
$GPS1,170418,4739.381,-12252.701,10,5.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.8
$GPS2,170820,4739.385,-12252.699,15,1.5,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.276,0.007
$KALMAN_X,27512.9,118.6,118.6,-27396.3,128.5
$KALMAN_Y,6492.0,-16.4,118.1,-7160.4,143.4
$MHEAD_RNG_PITCHd_Wd,70.3,401,-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,-67.90,0.000,2,0.000,0.000,39,2130,2753
$GC,96,-0.78,-78.2,2.3,-2.4,11,169,13.68,2.97,-48.85,0.000,4,0.198,0.130,2356,3558,3804
$GC,222,-0.78,-78.2,8.3,-8.4,31,229,0.00,2.83,0.00,0.000,6,0.000,0.104,2356,2149,3805
$GC,294,-0.78,-78.2,12.3,-5.6,42,301,0.00,2.97,0.00,0.000,4,0.000,0.140,2356,731,3805
$GC,399,-0.78,-78.2,17.6,-5.0,58,406,0.00,2.75,0.00,0.000,6,0.000,0.091,2355,2157,3805
$GC,471,-0.78,-78.2,20.6,-3.7,68,475,0.00,2.85,0.00,0.000,4,0.000,0.120,2356,3566,3805
$GC,496,-0.78,-78.2,22.0,-5.4,69,503,0.00,2.90,0.00,0.000,6,0.000,0.107,2356,2141,3806
$GC,692,-0.78,-78.2,31.5,-5.0,85,696,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,724,3806
$GC,732,-0.78,-78.2,33.6,-5.9,88,736,0.00,2.78,0.00,0.000,6,0.000,0.093,2356,2154,3806
$GC,927,-0.78,-78.2,44.9,-6.2,103,931,0.00,2.85,0.00,0.000,4,0.000,0.120,2356,3566,3807
$GC,991,-0.78,-78.2,48.9,-6.4,107,999,0.00,2.90,0.00,0.000,6,0.000,0.110,2356,2144,3807
$GC,1188,-0.78,-78.2,60.0,-5.8,123,1192,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,725,3807
$GC,1253,-0.78,-78.2,63.8,-5.9,128,1258,0.00,2.78,0.00,0.000,6,0.000,0.094,2355,2154,3807
$GC,1449,-0.78,-78.2,73.7,-4.9,143,1453,0.00,2.83,0.00,0.000,4,0.000,0.119,2356,3569,3807
$GC,1507,-0.78,-78.2,77.1,-6.0,147,1514,0.00,2.90,0.00,0.000,6,0.000,0.110,2356,2146,3807
$GC,1703,-0.78,-78.2,87.0,-5.1,163,1707,0.00,2.92,0.00,0.000,4,0.000,0.138,2355,731,3807
$GC,1761,-0.78,-78.2,90.2,-5.1,167,1768,0.00,2.80,0.00,0.000,6,0.000,0.094,2355,2158,3807
$GC,1957,-0.78,-78.2,100.0,-4.8,183,1962,0.00,2.83,0.00,0.000,4,0.000,0.119,2356,3572,3807
$STATE,1968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1975,-0.31,0.0,100.5,5.0,184,2043,0.55,0.00,62.33,0.745,6,0.134,0.000,2459,2040,3484
$STATE,2044,end apogee,CONTROL_FINISHED_OK
$STATE,2044,begin climb
$GC,2046,0.78,78.2,102.1,0.0,190,2119,1.15,2.97,61.03,0.730,4,0.104,0.123,2693,632,3164
$GC,2150,0.86,149.3,97.9,5.8,198,2211,0.08,2.72,54.45,0.721,6,0.056,0.077,2717,2053,2875
$GC,2408,0.86,149.3,75.5,9.1,219,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2052,2874
$GC,2598,0.86,149.3,59.3,8.3,234,2603,0.00,2.92,0.00,0.000,4,0.000,0.124,2717,630,2873
$GC,2630,0.86,149.3,56.3,9.4,236,2634,0.00,2.67,0.00,0.000,6,0.000,0.075,2717,2059,2873
$GC,2832,0.86,149.3,38.5,8.5,252,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2059,2873
$GC,3022,0.86,149.3,22.3,8.8,267,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2059,2873
$GC,3218,0.92,206.9,6.9,6.1,294,3262,0.00,0.00,41.55,0.682,2,0.000,0.000,2717,2059,2651
$STATE,3262,end climb,SURFACE_DEPTH_REACHED
$STATE,3262,begin surface coast
$FINISH,1.2,1.020063
$STATE,3386,end surface coast,CONTROL_FINISHED_OK
$STATE,3387,begin surface
$SM_CCo,3407,182.90,0.640,0,0,1241,550.21
$SM_GC,1.52,0.00,0.00,182.90,0.000,0.000,0.640,38,2156,1241,-11.46,0.17,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2090
$TCM_TEMP,19.70
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.8,23.058
$10V_AH,10.2,6.077
$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,27.850,63.350,219.350,182.900,0.000,32.580,30.826,82.477,13.000,0.000,0.000,33.019,602.501,1906.153,536.173,566.971,269.560,33.342,891.529,0.000,549.382,0.000,5.351
$DEVICE_MAMPS,197.886,139.594,744.757,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,210.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9613,320
$CFSIZE,260034560,252743680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,181038,4739.402,-12252.134,29,1.4,30,18.3