version: 66.02
glider: 22
mission: 2
dive: 154
start: 9 26 107 2 41 40
data:
$ID,22
$MISSION,2
$DIVE,154
$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,450
$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,-112045.85
$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,2100
$C_ROLL_CLIMB,2000
$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
$GPS1,023338,4739.583,-12252.097,14,1.3,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.7
$GPS2,024015,4739.545,-12252.037,13,1.7,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,-0.128
$KALMAN_X,26107.6,-33.1,-36.3,-24867.4,124.3
$KALMAN_Y,6915.4,-107.4,-188.8,-6895.9,156.5
$MHEAD_RNG_PITCHd_Wd,224.1,477,-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,-78.2,0.0,0.0,0,74,0.00,0.00,-49.30,0.000,2,0.000,0.000,38,2088,2735
$GC,77,-0.78,-78.2,2.1,-2.0,8,151,13.55,2.90,-52.40,0.000,4,0.195,0.126,2353,3517,3804
$GC,349,-0.78,-78.2,15.4,-5.3,50,356,0.00,2.80,0.00,0.000,6,0.000,0.097,2353,2091,3807
$GC,422,-0.78,-78.2,19.1,-4.7,61,428,0.00,2.95,0.00,0.000,4,0.000,0.138,2352,677,3807
$GC,460,-0.78,-78.2,21.2,-5.5,66,465,0.00,2.75,0.00,0.000,6,0.000,0.090,2353,2105,3806
$GC,656,-0.78,-78.2,31.0,-4.7,81,660,0.00,2.85,0.00,0.000,4,0.000,0.119,2353,3520,3807
$GC,701,-0.78,-78.2,33.4,-5.8,84,706,0.00,2.85,0.00,0.000,6,0.000,0.106,2353,2093,3808
$GC,897,-0.78,-78.2,42.8,-4.7,99,901,0.00,2.95,0.00,0.000,4,0.000,0.140,2352,675,3808
$GC,949,-0.78,-78.2,45.5,-5.5,103,954,0.00,2.75,0.00,0.000,6,0.000,0.092,2353,2104,3808
$GC,1144,-0.78,-78.2,55.5,-5.0,118,1149,0.00,2.85,0.00,0.000,4,0.000,0.120,2353,3520,3808
$GC,1209,-0.78,-78.2,59.0,-4.9,122,1216,0.00,2.88,0.00,0.000,6,0.000,0.108,2353,2100,3808
$GC,1405,-0.78,-78.2,68.5,-4.9,138,1410,0.00,2.97,0.00,0.000,4,0.000,0.140,2354,673,3808
$GC,1430,-0.78,-78.2,69.8,-5.1,139,1438,0.00,2.75,0.00,0.000,6,0.000,0.091,2353,2102,3808
$GC,1626,-0.78,-78.2,80.1,-5.4,155,1631,0.00,2.85,0.00,0.000,4,0.000,0.119,2353,3520,3808
$GC,1691,-0.78,-78.2,84.0,-6.3,159,1698,0.00,2.90,0.00,0.000,6,0.000,0.110,2352,2091,3808
$GC,1887,-0.78,-78.2,94.1,-4.9,175,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2091,3808
$STATE,2024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2024,begin apogee
$GC,2029,-0.31,0.0,100.6,4.8,186,2099,0.55,0.00,62.35,0.747,6,0.128,0.000,2458,1992,3484
$STATE,2099,end apogee,CONTROL_FINISHED_OK
$STATE,2100,begin climb
$GC,2102,0.78,78.2,101.9,0.0,192,2174,1.15,2.90,61.10,0.731,4,0.102,0.094,2693,3421,3165
$GC,2213,0.83,126.6,97.5,6.3,201,2256,0.00,2.75,37.17,0.726,6,0.000,0.081,2693,1989,2967
$GC,2445,0.87,159.2,82.0,6.7,219,2476,0.12,2.95,24.83,0.726,4,0.068,0.128,2722,580,2834
$GC,2548,0.87,159.2,72.2,10.3,226,2555,0.00,2.70,0.00,0.000,6,0.000,0.071,2723,2007,2833
$GC,2744,0.87,159.2,53.3,9.4,242,2748,0.00,2.75,0.00,0.000,4,0.000,0.097,2723,3421,2833
$GC,2783,0.87,159.2,49.2,10.7,245,2788,0.00,2.75,0.00,0.000,6,0.000,0.084,2723,1996,2833
$GC,2978,0.87,159.2,31.1,8.6,260,2982,0.00,2.88,0.00,0.000,4,0.000,0.124,2722,584,2833
$GC,3044,0.87,159.2,24.9,8.9,265,3048,0.00,2.65,0.00,0.000,6,0.000,0.071,2723,2009,2832
$GC,3246,0.87,159.2,7.9,7.7,291,3253,0.00,2.72,0.00,0.000,4,0.000,0.098,2723,3417,2832
$STATE,3296,end climb,SURFACE_DEPTH_REACHED
$STATE,3296,begin surface coast
$FINISH,2.7,1.020550
$STATE,3390,end surface coast,CONTROL_FINISHED_OK
$STATE,3390,begin surface
$SM_CCo,3413,160.43,0.651,0,0,1648,450.13
$SM_GC,1.39,0.00,0.00,160.43,0.000,0.000,0.651,37,2082,1648,-11.46,-0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2113
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.3,7.7
$24V_AH,23.8,21.888
$10V_AH,10.2,5.745
$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,27.850,67.850,185.450,160.425,0.000,65.157,112.873,82.769,2.250,0.000,0.000,13.746,610.274,1996.209,480.218,551.998,381.309,33.332,827.916,0.000,554.218,0.000,5.349
$DEVICE_MAMPS,194.818,140.361,747.058,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9570,313
$CFSIZE,260034560,253116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,034157,4739.474,-12252.232,10,1.7,10,18.3