version: 66.02
glider: 22
mission: 2
dive: 169
start: 9 26 107 19 22 9
data:
$ID,22
$MISSION,2
$DIVE,169
$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,-112439.26
$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,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
$GPS1,191637,4739.354,-12252.653,14,1.8,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.8
$GPS2,192045,4739.354,-12252.672,13,1.6,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.210,0.179
$KALMAN_X,27477.5,89.4,240.7,-27416.7,-19.1
$KALMAN_Y,6265.4,30.4,221.1,-7138.8,-99.1
$MHEAD_RNG_PITCHd_Wd,31.2,396,-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,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,-67.75,0.000,2,0.000,0.000,41,2160,2745
$GC,97,-0.78,-78.2,2.2,-2.2,11,170,13.65,2.88,-50.00,0.000,4,0.198,0.130,2355,3558,3803
$GC,257,-0.78,-78.2,9.9,-7.0,36,263,0.00,2.85,0.00,0.000,6,0.000,0.109,2355,2145,3805
$GC,329,-0.78,-78.2,13.9,-5.5,47,335,0.00,2.97,0.00,0.000,4,0.000,0.140,2354,725,3805
$GC,368,-0.78,-78.2,16.3,-5.9,53,374,0.00,2.78,0.00,0.000,6,0.000,0.094,2355,2155,3806
$GC,440,-0.78,-78.2,20.0,-4.9,64,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2155,3805
$GC,630,-0.78,-78.2,29.1,-4.7,79,635,0.00,2.85,0.00,0.000,4,0.000,0.119,2355,3571,3806
$GC,708,-0.78,-78.2,33.3,-5.2,84,715,0.00,2.88,0.00,0.000,6,0.000,0.109,2355,2145,3807
$GC,904,-0.78,-78.2,43.0,-5.0,100,909,0.00,2.97,0.00,0.000,4,0.000,0.139,2354,722,3807
$GC,968,-0.78,-78.2,46.7,-5.7,104,976,0.00,2.83,0.00,0.000,6,0.000,0.094,2354,2159,3807
$GC,1165,-0.78,-78.2,56.7,-4.9,120,1169,0.00,2.83,0.00,0.000,4,0.000,0.120,2355,3561,3807
$GC,1239,-0.78,-78.2,60.5,-5.2,125,1243,0.00,2.88,0.00,0.000,6,0.000,0.110,2354,2138,3807
$GC,1438,-0.78,-78.2,70.0,-4.8,140,1443,0.00,2.95,0.00,0.000,4,0.000,0.139,2354,722,3808
$GC,1497,-0.78,-78.2,73.5,-6.1,144,1501,0.00,2.78,0.00,0.000,6,0.000,0.094,2355,2155,3807
$GC,1692,-0.78,-78.2,83.7,-5.2,159,1696,0.00,2.83,0.00,0.000,4,0.000,0.118,2355,3564,3808
$GC,1751,-0.78,-78.2,87.0,-6.1,163,1755,0.00,2.88,0.00,0.000,6,0.000,0.112,2354,2139,3808
$GC,1946,-0.78,-78.2,97.2,-5.3,178,1951,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,725,3807
$STATE,1995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1995,begin apogee
$GC,2003,-0.31,0.0,100.1,5.9,181,2069,0.52,0.00,62.17,0.744,6,0.127,0.000,2457,2067,3484
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2070,begin climb
$GC,2072,0.78,78.2,101.7,0.0,187,2137,1.15,0.00,61.03,0.729,6,0.101,0.000,2693,2067,3165
$GC,2322,0.89,180.6,90.8,5.1,207,2409,0.15,3.00,78.47,0.716,4,0.064,0.120,2735,628,2745
$GC,2461,0.89,180.6,78.8,10.5,218,2465,0.00,2.70,0.00,0.000,6,0.000,0.074,2736,2049,2745
$GC,2663,0.89,180.6,57.9,10.5,234,2667,0.00,2.78,0.00,0.000,4,0.000,0.103,2736,3463,2745
$GC,2694,0.89,180.6,54.0,12.5,236,2702,0.00,2.78,0.00,0.000,6,0.000,0.086,2736,2047,2745
$GC,2890,0.89,180.6,33.2,10.4,252,2895,0.00,2.90,0.00,0.000,4,0.000,0.127,2736,628,2745
$GC,2968,0.89,180.6,24.2,11.5,257,2976,0.00,2.70,0.00,0.000,6,0.000,0.073,2736,2058,2744
$GC,3172,0.89,180.6,5.5,7.7,285,3179,0.00,2.92,0.00,0.000,4,0.000,0.123,2736,631,2744
$STATE,3183,end climb,SURFACE_DEPTH_REACHED
$STATE,3183,begin surface coast
$FINISH,3.8,1.021512
$STATE,3197,end surface coast,CONTROL_FINISHED_OK
$STATE,3197,begin surface
$SM_CCo,3221,194.90,0.640,0,0,1240,550.21
$SM_GC,1.48,0.00,0.00,194.90,0.000,0.000,0.640,38,2167,1240,-11.46,0.48,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2079
$TCM_TEMP,19.70
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,70.0,7.9
$24V_AH,23.8,23.236
$10V_AH,10.2,6.126
$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,28.025,68.375,201.675,194.900,0.000,32.607,36.614,99.693,15.750,0.000,0.000,13.543,565.839,1789.412,544.809,522.785,289.156,33.339,880.585,0.000,524.606,0.000,6.868
$DEVICE_MAMPS,197.886,139.594,743.990,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9551,289
$CFSIZE,260034560,252690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,202010,4739.409,-12252.389,11,6.8,30,18.3