version: 66.02
glider: 22
mission: 2
dive: 168
start: 9 26 107 18 16 3
data:
$ID,22
$MISSION,2
$DIVE,168
$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,-112425.08
$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,11
$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
$GPS1,181038,4739.402,-12252.134,29,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.5
$GPS2,181439,4739.412,-12252.142,15,1.8,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.276,0.018
$KALMAN_X,27456.2,86.9,185.5,-26673.1,70.5
$KALMAN_Y,6431.8,12.4,195.2,-7156.7,74.2
$MHEAD_RNG_PITCHd_Wd,255.4,340,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,94,0.00,0.00,-67.82,0.000,2,0.000,0.000,38,2157,2749
$GC,97,-0.78,-78.2,2.2,-2.4,11,170,13.70,3.05,-48.78,0.000,4,0.199,0.142,2353,727,3803
$GC,304,-0.78,-78.2,12.9,-6.1,43,310,0.00,2.75,0.00,0.000,6,0.000,0.087,2353,2158,3804
$GC,376,-0.78,-78.2,16.8,-5.0,54,382,0.00,2.85,0.00,0.000,4,0.000,0.120,2353,3565,3805
$GC,408,-0.78,-78.2,18.5,-5.4,59,414,0.00,2.85,0.00,0.000,6,0.000,0.106,2353,2146,3805
$GC,478,-0.78,-78.2,22.3,-5.4,67,482,0.00,2.95,0.00,0.000,4,0.000,0.136,2352,723,3805
$GC,523,-0.78,-78.2,24.8,-5.8,70,530,0.00,2.80,0.00,0.000,6,0.000,0.094,2353,2163,3806
$GC,719,-0.78,-78.2,35.8,-5.4,86,723,0.00,2.83,0.00,0.000,4,0.000,0.120,2353,3561,3806
$GC,770,-0.78,-78.2,38.7,-5.9,89,778,0.00,2.88,0.00,0.000,6,0.000,0.108,2353,2148,3807
$GC,967,-0.78,-78.2,49.2,-5.3,105,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2148,3806
$GC,1157,-0.78,-78.2,59.4,-5.5,120,1162,0.00,2.95,0.00,0.000,4,0.000,0.139,2352,731,3806
$GC,1235,-0.78,-78.2,63.9,-5.9,125,1242,0.00,2.78,0.00,0.000,6,0.000,0.095,2353,2162,3807
$GC,1431,-0.78,-78.2,74.1,-5.0,141,1435,0.00,2.83,0.00,0.000,4,0.000,0.120,2353,3570,3807
$GC,1483,-0.78,-78.2,77.0,-5.8,145,1488,0.00,2.88,0.00,0.000,6,0.000,0.110,2353,2140,3807
$GC,1679,-0.78,-78.2,86.9,-5.0,160,1683,0.00,2.92,0.00,0.000,4,0.000,0.137,2353,731,3807
$GC,1716,-0.78,-78.2,89.1,-5.7,162,1724,0.00,2.80,0.00,0.000,6,0.000,0.095,2353,2159,3806
$GC,1913,-0.78,-78.2,99.4,-4.9,178,1918,0.00,2.83,0.00,0.000,4,0.000,0.119,2353,3564,3807
$STATE,1930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1930,begin apogee
$GC,1938,-0.31,0.0,100.3,5.0,179,2005,0.55,0.00,62.17,0.745,6,0.133,0.000,2457,2046,3484
$STATE,2006,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2008,0.78,78.2,101.7,0.0,185,2081,1.17,2.97,61.10,0.729,4,0.114,0.120,2692,632,3164
$GC,2126,0.85,145.4,96.6,5.9,194,2183,0.08,2.72,51.17,0.718,6,0.065,0.077,2713,2061,2891
$GC,2371,0.85,145.4,76.2,8.8,214,2375,0.00,2.78,0.00,0.000,4,0.000,0.105,2713,3468,2891
$GC,2404,0.85,145.4,73.2,9.6,216,2409,0.00,2.78,0.00,0.000,6,0.000,0.087,2712,2040,2891
$GC,2599,0.85,145.4,55.9,8.7,231,2604,0.00,2.90,0.00,0.000,4,0.000,0.128,2713,622,2890
$GC,2663,0.85,145.4,49.8,9.1,235,2671,0.00,2.67,0.00,0.000,6,0.000,0.071,2713,2051,2889
$GC,2860,0.85,145.4,32.9,8.3,251,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2051,2889
$GC,3051,0.86,148.9,18.4,7.3,267,3063,0.00,3.00,2.35,0.777,4,0.000,0.125,2713,626,2876
$GC,3076,0.86,148.9,16.4,8.2,271,3082,0.00,2.67,0.00,0.000,6,0.000,0.074,2713,2058,2876
$GC,3148,0.90,183.4,11.3,6.6,282,3179,0.00,0.00,26.00,0.696,6,0.000,0.000,2713,2058,2736
$GC,3246,1.00,277.6,5.3,5.2,297,3253,0.15,0.00,5.00,0.727,2,0.092,0.000,2746,2058,2710
$STATE,3254,end climb,SURFACE_DEPTH_REACHED
$STATE,3254,begin surface coast
$FINISH,0.8,1.019860
$STATE,3365,end surface coast,CONTROL_FINISHED_OK
$STATE,3365,begin surface
$SM_CCo,3386,190.68,0.644,0,0,1240,550.21
$SM_GC,1.52,0.00,0.00,190.68,0.000,0.000,0.644,41,2160,1240,-11.45,0.28,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2107
$TCM_TEMP,19.80
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,70.2,8.0
$24V_AH,23.8,23.147
$10V_AH,10.2,6.102
$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,28.100,68.700,207.800,190.675,0.000,32.579,35.697,91.945,9.750,0.000,0.000,15.324,601.160,1877.940,551.638,545.758,289.431,33.339,905.691,0.000,545.342,0.000,6.865
$DEVICE_MAMPS,198.653,141.895,776.971,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9568,315
$CFSIZE,260034560,252715008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,191637,4739.354,-12252.653,14,1.8,24,18.3