version: 66.02
glider: 22
mission: 2
dive: 136
start: 9 25 107 6 45 57
data:
$ID,22
$MISSION,2
$DIVE,136
$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,-111604.44
$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,8
$R_STBD_OVSHOOT,16
$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
$GPS1,063951,4739.822,-12251.932,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.5
$GPS2,064433,4739.841,-12251.909,15,1.4,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.257,-0.127
$KALMAN_X,24921.9,-52.3,506.3,-24034.9,7.6
$KALMAN_Y,7995.6,72.8,51.0,-7844.7,49.6
$MHEAD_RNG_PITCHd_Wd,225.3,1756,-10.5,-7.407
$D_GRID,121
$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,-0.74,-78.2,0.0,0.0,0,68,0.00,0.00,-42.45,0.000,2,0.000,0.000,37,2094,2603
$GC,71,-0.74,-78.2,2.3,-2.5,7,145,13.57,2.90,-54.22,0.000,4,0.193,0.117,2363,3514,3804
$GC,198,-0.74,-78.2,6.1,-5.7,27,205,0.00,2.80,0.00,0.000,6,0.000,0.097,2363,2096,3804
$GC,270,-0.74,-78.2,9.8,-5.1,38,277,0.00,2.97,0.00,0.000,4,0.000,0.141,2362,682,3804
$GC,303,-0.74,-78.2,11.6,-5.6,43,309,0.00,2.70,0.00,0.000,6,0.000,0.083,2363,2102,3804
$GC,374,-0.74,-78.2,15.5,-5.2,54,381,0.00,2.80,0.00,0.000,4,0.000,0.111,2363,3514,3805
$GC,427,-0.74,-78.2,18.6,-6.0,62,433,0.00,2.80,0.00,0.000,6,0.000,0.100,2363,2093,3805
$GC,497,-0.74,-78.2,21.9,-4.3,70,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2093,3805
$GC,689,-0.74,-78.2,31.5,-5.1,85,693,0.00,2.97,0.00,0.000,4,0.000,0.144,2362,679,3807
$GC,721,-0.74,-78.2,33.4,-5.5,87,725,0.00,2.72,0.00,0.000,6,0.000,0.084,2363,2110,3807
$GC,916,-0.74,-78.2,43.4,-4.8,102,921,0.00,2.80,0.00,0.000,4,0.000,0.111,2363,3523,3807
$GC,954,-0.74,-78.2,45.6,-5.9,104,962,0.00,2.85,0.00,0.000,6,0.000,0.100,2363,2097,3808
$GC,1151,-0.74,-78.2,55.0,-4.9,120,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$GC,1341,-0.74,-78.2,64.7,-5.4,135,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3808
$GC,1530,-0.74,-78.2,74.8,-5.6,150,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2097,3808
$GC,1719,-0.74,-78.2,85.4,-5.3,165,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$GC,1911,-0.74,-78.2,95.2,-4.9,180,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$STATE,2019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2019,begin apogee
$GC,2024,-0.31,0.0,100.4,4.5,189,2089,0.50,0.00,61.72,0.746,6,0.121,0.000,2459,1995,3484
$STATE,2090,end apogee,CONTROL_FINISHED_OK
$STATE,2090,begin climb
$GC,2092,0.74,78.2,101.5,0.0,194,2162,1.10,3.03,61.05,0.732,4,0.102,0.130,2685,584,3165
$GC,2209,0.81,138.8,97.1,6.1,204,2262,0.00,2.67,46.80,0.725,6,0.000,0.070,2685,2019,2916
$GC,2459,0.81,138.8,78.4,7.5,224,2463,0.00,2.67,0.00,0.000,4,0.000,0.090,2685,3414,2916
$GC,2525,0.81,138.8,73.1,8.1,229,2529,0.00,2.75,0.00,0.000,6,0.000,0.086,2685,1992,2916
$GC,2727,0.82,144.8,57.7,7.3,245,2741,0.10,2.88,3.85,0.780,4,0.074,0.117,2713,585,2891
$GC,2771,0.82,144.8,53.6,9.2,248,2779,0.00,2.62,0.00,0.000,6,0.000,0.062,2713,2006,2892
$GC,2968,0.82,144.8,37.3,8.3,264,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2006,2890
$GC,3158,0.82,144.8,22.3,7.9,279,3163,0.00,2.92,0.00,0.000,4,0.000,0.123,2713,579,2890
$GC,3182,0.82,144.8,20.2,8.0,280,3190,0.00,2.65,0.00,0.000,6,0.000,0.066,2713,2003,2891
$GC,3388,0.88,202.0,6.6,6.2,311,3413,0.00,0.00,23.27,0.700,2,0.000,0.000,2713,2002,2767
$STATE,3414,end climb,SURFACE_DEPTH_REACHED
$STATE,3414,begin surface coast
$FINISH,0.8,1.019810
$STATE,3498,end surface coast,CONTROL_FINISHED_OK
$STATE,3499,begin surface
$SM_CCo,3519,146.95,0.652,0,0,1648,450.13
$SM_GC,1.48,0.00,0.00,146.95,0.000,0.000,0.652,37,2118,1648,-11.46,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2124
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.7,7.7
$24V_AH,23.8,20.421
$10V_AH,10.2,5.302
$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,27.500,50.925,196.700,146.950,0.000,32.599,34.902,137.855,1.750,0.000,0.000,15.753,626.438,2044.280,469.393,532.946,323.429,33.342,803.347,0.000,536.881,0.000,5.349
$DEVICE_MAMPS,193.284,144.196,780.039,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,217.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9561,328
$CFSIZE,260034560,253632512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,074808,4739.652,-12252.411,32,1.3,32,18.3