version: 66.02
glider: 22
mission: 2
dive: 139
start: 9 25 107 9 59 1
data:
$ID,22
$MISSION,2
$DIVE,139
$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,-111666.19
$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,10
$R_STBD_OVSHOOT,13
$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
$GPS1,095344,4739.464,-12253.349,12,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.5
$GPS2,095738,4739.444,-12253.353,28,1.7,28,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,0.237
$KALMAN_X,25533.2,26.8,31.3,-26052.7,-26.3
$KALMAN_Y,7659.0,71.7,-3.4,-8181.5,-133.7
$MHEAD_RNG_PITCHd_Wd,15.8,3693,-10.5,-7.407
$D_GRID,119
$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,-78.2,0.0,0.0,0,82,0.00,0.00,-56.12,0.000,2,0.000,0.000,38,2115,2871
$GC,85,-0.74,-78.2,2.2,-2.5,9,152,13.62,3.03,-46.00,0.000,4,0.195,0.147,2363,686,3804
$GC,251,-0.74,-78.2,8.6,-5.8,35,258,0.00,2.72,0.00,0.000,6,0.000,0.084,2364,2112,3805
$GC,323,-0.74,-78.2,13.0,-6.2,46,330,0.00,2.80,0.00,0.000,4,0.000,0.113,2364,3517,3806
$GC,382,-0.74,-78.2,17.6,-8.5,55,389,0.00,2.83,0.00,0.000,6,0.000,0.100,2364,2100,3806
$GC,452,-0.74,-78.2,22.8,-7.1,63,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2100,3806
$GC,643,-0.74,-78.2,30.7,-5.3,78,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2101,3807
$GC,832,-0.74,-78.2,40.5,-4.4,93,837,0.00,2.97,0.00,0.000,4,0.000,0.141,2363,680,3808
$GC,896,-0.74,-78.2,43.6,-4.7,97,903,0.00,2.75,0.00,0.000,6,0.000,0.085,2364,2105,3808
$GC,1092,-0.74,-78.2,54.4,-5.4,113,1097,0.00,2.80,0.00,0.000,4,0.000,0.113,2364,3518,3808
$GC,1163,-0.74,-78.2,58.1,-5.3,118,1171,0.00,2.85,0.00,0.000,6,0.000,0.101,2364,2093,3808
$GC,1360,-0.74,-78.2,67.2,-4.8,134,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2093,3808
$GC,1550,-0.74,-78.2,76.0,-5.1,149,1555,0.00,2.83,0.00,0.000,4,0.000,0.107,2363,3513,3808
$GC,1582,-0.74,-78.2,77.7,-5.8,151,1587,0.00,2.80,0.00,0.000,6,0.000,0.102,2364,2097,3808
$GC,1777,-0.74,-78.2,87.2,-4.7,166,1782,0.00,2.97,0.00,0.000,4,0.000,0.144,2363,682,3808
$GC,1823,-0.74,-78.2,89.5,-5.2,169,1828,0.00,2.72,0.00,0.000,6,0.000,0.088,2364,2107,3808
$GC,2018,-0.74,-78.2,99.8,-5.6,184,2023,0.00,2.50,0.00,0.000,3,0.000,0.111,2364,3385,3808
$STATE,2023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2024,begin apogee
$GC,2030,-0.31,0.0,100.0,5.7,184,2097,0.45,0.00,62.15,0.747,6,0.119,0.000,2454,1996,3484
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2098,begin climb
$GC,2100,0.74,78.2,102.3,0.0,190,2173,1.15,3.05,61.28,0.732,4,0.105,0.130,2684,577,3164
$GC,2265,0.83,153.4,95.8,5.8,203,2330,0.10,2.67,58.25,0.722,6,0.069,0.071,2714,2008,2856
$GC,2527,0.83,153.4,73.8,9.5,224,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2008,2856
$GC,2717,0.83,153.4,57.4,8.5,239,2722,0.00,2.70,0.00,0.000,4,0.000,0.091,2714,3418,2856
$GC,2749,0.83,153.4,54.4,9.5,241,2753,0.00,2.72,0.00,0.000,6,0.000,0.082,2714,1996,2856
$GC,2951,0.83,153.4,36.6,8.6,257,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1995,2855
$GC,3143,0.83,153.4,20.4,7.8,272,3147,0.00,2.90,0.00,0.000,4,0.000,0.129,2713,578,2855
$GC,3235,0.83,153.4,12.4,9.0,285,3241,0.00,2.62,0.00,0.000,6,0.000,0.068,2713,2005,2855
$GC,3307,0.91,226.4,7.4,5.9,296,3363,0.00,0.00,53.70,0.678,2,0.000,0.000,2714,2005,2568
$STATE,3363,end climb,SURFACE_DEPTH_REACHED
$STATE,3363,begin surface coast
$FINISH,0.7,1.011761
$STATE,3474,end surface coast,CONTROL_FINISHED_OK
$STATE,3474,begin surface
$SM_CCo,3494,127.07,0.649,0,0,1648,450.13
$SM_GC,1.34,0.00,0.00,127.07,0.000,0.000,0.649,36,2104,1648,-11.47,0.11,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2117
$TCM_TEMP,19.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.2,7.7
$24V_AH,23.8,20.660
$10V_AH,10.2,5.374
$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,27.650,56.225,235.375,127.075,0.000,32.578,32.618,79.020,3.000,0.000,0.000,28.861,607.359,1999.704,474.722,561.589,260.123,33.347,826.195,0.000,549.252,0.000,5.352
$DEVICE_MAMPS,194.818,147.264,747.058,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,212.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9594,322
$CFSIZE,260034560,253546496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,110031,4739.603,-12253.006,31,1.6,35,18.3