version: 66.02
glider: 22
mission: 2
dive: 140
start: 9 25 107 11 9 33
data:
$ID,22
$MISSION,2
$DIVE,140
$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,-111683.48
$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,12
$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
$GPS1,110031,4739.603,-12253.006,31,1.6,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.7
$GPS2,110808,4739.553,-12253.005,11,1.5,16,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,0.259
$KALMAN_X,25650.6,74.1,-133.9,-25615.9,14.3
$KALMAN_Y,7352.2,17.9,-49.0,-7573.4,-209.3
$MHEAD_RNG_PITCHd_Wd,6.9,3272,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.74,-78.2,0.0,0.0,0,80,0.00,0.00,-55.33,0.000,2,0.000,0.000,36,2105,2853
$GC,83,-0.74,-78.2,2.2,-2.3,9,144,13.70,3.00,-40.22,0.000,4,0.198,0.146,2363,679,3802
$GC,177,-0.74,-78.2,6.1,-7.1,24,183,0.00,2.72,0.00,0.000,6,0.000,0.084,2362,2105,3803
$GC,249,-0.74,-78.2,10.5,-5.5,35,255,0.00,2.83,0.00,0.000,4,0.000,0.114,2363,3520,3804
$GC,294,-0.74,-78.2,13.4,-6.8,42,301,0.00,2.83,0.00,0.000,6,0.000,0.098,2363,2090,3804
$GC,366,-0.74,-78.2,17.3,-5.7,53,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2090,3804
$GC,444,-0.74,-78.2,20.9,-4.4,64,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2090,3805
$GC,634,-0.74,-78.2,30.7,-5.4,79,639,0.00,2.85,0.00,0.000,4,0.000,0.109,2363,3521,3806
$GC,658,-0.74,-78.2,32.1,-5.4,80,666,0.00,2.83,0.00,0.000,6,0.000,0.100,2363,2102,3807
$GC,855,-0.74,-78.2,41.7,-5.1,96,860,0.00,2.97,0.00,0.000,4,0.000,0.139,2362,677,3806
$GC,927,-0.74,-78.2,45.4,-5.2,101,932,0.00,2.72,0.00,0.000,6,0.000,0.086,2363,2107,3806
$GC,1123,-0.74,-78.2,54.3,-4.3,116,1127,0.00,2.80,0.00,0.000,4,0.000,0.112,2363,3522,3807
$GC,1213,-0.74,-78.2,59.1,-5.4,122,1221,0.00,2.85,0.00,0.000,6,0.000,0.101,2362,2095,3807
$GC,1410,-0.74,-78.2,68.9,-5.0,138,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$GC,1602,-0.74,-78.2,77.9,-4.6,153,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$GC,1789,-0.74,-78.2,86.7,-5.4,168,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$GC,1979,-0.74,-78.2,95.7,-4.6,183,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2096,3807
$STATE,2064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2064,begin apogee
$GC,2069,-0.31,0.0,100.0,5.1,190,2138,0.50,0.00,62.08,0.746,6,0.119,0.000,2460,1983,3484
$STATE,2139,end apogee,CONTROL_FINISHED_OK
$STATE,2139,begin climb
$GC,2141,0.74,78.2,101.7,0.0,196,2210,1.12,0.00,61.05,0.738,6,0.100,0.000,2687,1979,3163
$GC,2399,0.86,186.3,91.1,5.1,217,2489,0.15,2.97,82.88,0.719,4,0.061,0.126,2731,579,2721
$GC,2513,0.86,186.3,81.2,10.8,226,2522,0.00,2.70,0.00,0.000,6,0.000,0.068,2731,2007,2721
$GC,2710,0.86,186.3,61.3,10.1,242,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2007,2721
$GC,2900,0.86,186.3,42.0,10.1,257,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2007,2721
$GC,3090,0.86,186.3,23.3,9.5,272,3094,0.00,2.92,0.00,0.000,4,0.000,0.123,2731,582,2721
$GC,3127,0.86,186.3,19.6,9.7,274,3135,0.00,2.67,0.00,0.000,6,0.000,0.068,2732,2008,2721
$STATE,3297,end climb,SURFACE_DEPTH_REACHED
$STATE,3298,begin surface coast
$FINISH,1.5,1.020068
$STATE,3358,end surface coast,CONTROL_FINISHED_OK
$STATE,3358,begin surface
$SM_CCo,3379,149.70,0.650,0,0,1649,450.13
$SM_GC,1.60,0.00,0.00,149.70,0.000,0.000,0.650,36,2112,1649,-11.47,0.34,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2099
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.5,7.7
$24V_AH,23.8,20.746
$10V_AH,10.2,5.399
$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,27.975,40.075,206.000,149.700,0.000,65.178,167.912,86.820,2.500,0.000,0.000,16.675,585.828,2027.569,478.811,509.398,434.002,33.343,795.587,0.000,509.189,0.000,5.350
$DEVICE_MAMPS,197.886,145.730,745.524,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9591,309
$CFSIZE,260034560,253526016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,120937,4739.842,-12252.722,42,1.2,42,18.3