version: 66.02
glider: 22
mission: 2
dive: 141
start: 9 25 107 12 15 13
data:
$ID,22
$MISSION,2
$DIVE,141
$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,-111716.34
$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,15
$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
$GPS1,120937,4739.842,-12252.722,42,1.2,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.0
$GPS2,121350,4739.840,-12252.736,15,1.2,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,0.258
$KALMAN_X,25708.2,130.6,-241.1,-25286.9,36.0
$KALMAN_Y,7296.4,-38.1,-114.5,-6869.8,-182.2
$MHEAD_RNG_PITCHd_Wd,7.3,2644,-10.5,-7.407
$D_GRID,120
$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,-78.2,0.0,0.0,0,69,0.00,0.00,-43.42,0.000,2,0.000,0.000,36,2113,2608
$GC,72,-0.74,-78.2,2.0,-1.8,7,146,13.80,2.85,-54.30,0.000,4,0.201,0.122,2362,3509,3803
$GC,279,-0.74,-78.2,12.6,-5.7,39,286,0.00,2.83,0.00,0.000,6,0.000,0.101,2362,2088,3805
$GC,351,-0.74,-78.2,16.6,-5.5,50,358,0.00,2.95,0.00,0.000,4,0.000,0.141,2362,684,3806
$GC,390,-0.74,-78.2,18.7,-6.0,56,397,0.00,2.72,0.00,0.000,6,0.000,0.086,2362,2107,3806
$GC,466,-0.74,-78.2,22.5,-4.6,64,471,0.00,2.83,0.00,0.000,4,0.000,0.113,2362,3523,3806
$GC,524,-0.74,-78.2,25.7,-5.3,68,531,0.00,2.85,0.00,0.000,6,0.000,0.101,2362,2100,3806
$GC,720,-0.74,-78.2,34.9,-5.1,84,725,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,677,3806
$GC,786,-0.74,-78.2,38.4,-5.7,89,791,0.00,2.75,0.00,0.000,6,0.000,0.087,2362,2114,3806
$GC,981,-0.74,-78.2,48.7,-5.4,104,986,0.00,2.80,0.00,0.000,4,0.000,0.114,2362,3519,3807
$GC,1045,-0.74,-78.2,52.4,-5.7,108,1053,0.00,2.85,0.00,0.000,6,0.000,0.104,2362,2099,3807
$GC,1242,-0.74,-78.2,62.6,-5.2,124,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2099,3807
$GC,1432,-0.74,-78.2,73.0,-5.6,139,1437,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,677,3807
$GC,1469,-0.74,-78.2,75.1,-5.7,141,1477,0.00,2.75,0.00,0.000,6,0.000,0.087,2362,2099,3807
$GC,1666,-0.74,-78.2,85.4,-5.3,157,1670,0.00,2.83,0.00,0.000,4,0.000,0.115,2362,3521,3807
$GC,1738,-0.74,-78.2,89.5,-5.7,162,1742,0.00,2.83,0.00,0.000,6,0.000,0.105,2362,2097,3807
$GC,1933,-0.74,-78.2,99.6,-5.3,177,1938,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,680,3807
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1943,begin apogee
$GC,1949,-0.31,0.0,100.2,5.2,177,2016,0.47,0.00,62.22,0.746,6,0.118,0.000,2456,2003,3484
$STATE,2017,end apogee,CONTROL_FINISHED_OK
$STATE,2017,begin climb
$GC,2019,0.74,78.2,102.2,0.0,183,2084,1.12,0.00,61.35,0.734,6,0.100,0.000,2688,2003,3165
$GC,2269,0.89,213.6,92.5,4.6,203,2378,0.17,0.00,104.22,0.717,6,0.061,0.000,2736,2003,2613
$GC,2566,0.89,213.6,63.9,11.1,227,2571,0.00,2.92,0.00,0.000,4,0.000,0.123,2736,584,2612
$GC,2590,0.89,213.6,60.9,12.0,228,2598,0.00,2.67,0.00,0.000,6,0.000,0.071,2736,2002,2612
$GC,2787,0.89,213.6,39.2,11.1,244,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2002,2612
$GC,2977,0.89,213.6,19.3,10.5,259,2983,0.00,2.92,0.00,0.000,4,0.000,0.123,2736,579,2612
$GC,3029,0.89,213.6,13.5,10.9,267,3036,0.00,2.67,0.00,0.000,6,0.000,0.071,2736,2020,2612
$GC,3101,0.89,213.6,6.9,8.3,278,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2020,2612
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,1.4,1.019982
$STATE,3187,end surface coast,CONTROL_FINISHED_OK
$STATE,3187,begin surface
$SM_CCo,3208,133.12,0.653,0,0,1648,450.13
$SM_GC,1.59,0.00,0.00,133.12,0.000,0.000,0.653,36,2106,1648,-11.47,0.17,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.1,7.7
$24V_AH,23.8,20.828
$10V_AH,10.2,5.423
$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,28.125,56.650,227.800,133.125,0.000,32.589,41.473,84.018,2.250,0.000,0.000,32.231,561.476,1811.292,496.506,502.171,270.729,33.339,809.003,0.000,491.022,0.000,5.351
$DEVICE_MAMPS,200.954,142.662,745.524,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9575,291
$CFSIZE,260034560,253497344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,131156,4740.163,-12252.431,11,1.8,28,18.3