version: 66.02
glider: 22
mission: 2
dive: 145
start: 9 25 107 16 44 33
data:
$ID,22
$MISSION,2
$DIVE,145
$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,-111806.58
$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,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
$GPS1,163838,4740.151,-12251.092,33,1.5,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.9
$GPS2,164309,4740.151,-12251.100,12,1.0,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.210,-0.194
$KALMAN_X,25638.0,176.6,-59.3,-23399.9,55.9
$KALMAN_Y,7476.3,-157.1,-29.4,-6439.6,125.7
$MHEAD_RNG_PITCHd_Wd,209.0,2060,-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,-78.2,0.0,0.0,0,68,0.00,0.00,-42.42,0.000,2,0.000,0.000,39,2115,2591
$GC,71,-0.74,-78.2,2.0,-1.5,7,150,13.82,2.88,-54.80,0.000,4,0.202,0.127,2362,3512,3804
$GC,403,-0.74,-78.2,18.8,-5.2,58,409,0.00,2.83,0.00,0.000,6,0.000,0.104,2361,2091,3806
$GC,479,-0.74,-78.2,22.8,-5.1,66,483,0.00,2.85,0.00,0.000,4,0.000,0.107,2361,3516,3806
$GC,557,-0.74,-78.2,27.2,-5.8,72,562,0.00,2.83,0.00,0.000,6,0.000,0.104,2361,2097,3807
$GC,753,-0.74,-78.2,37.3,-5.4,87,757,0.00,2.97,0.00,0.000,4,0.000,0.143,2361,681,3806
$GC,790,-0.74,-78.2,39.2,-5.6,89,798,0.00,2.78,0.00,0.000,6,0.000,0.091,2361,2104,3807
$GC,987,-0.74,-78.2,49.1,-5.5,105,992,0.00,2.83,0.00,0.000,4,0.000,0.115,2361,3526,3806
$GC,1052,-0.74,-78.2,53.0,-6.4,110,1057,0.00,2.85,0.00,0.000,6,0.000,0.105,2361,2095,3807
$GC,1248,-0.74,-78.2,62.9,-5.0,125,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2095,3807
$GC,1438,-0.74,-78.2,72.4,-4.9,140,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2096,3807
$GC,1627,-0.74,-78.2,81.6,-4.8,155,1632,0.00,2.95,0.00,0.000,4,0.000,0.142,2361,684,3807
$GC,1659,-0.74,-78.2,83.4,-5.4,157,1664,0.00,2.75,0.00,0.000,6,0.000,0.090,2361,2115,3807
$GC,1854,-0.74,-78.2,93.4,-5.1,172,1859,0.00,2.78,0.00,0.000,4,0.000,0.115,2361,3515,3807
$GC,1920,-0.74,-78.2,97.0,-5.4,177,1925,0.00,2.83,0.00,0.000,6,0.000,0.106,2360,2091,3807
$STATE,1987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1987,begin apogee
$GC,1992,-0.31,0.0,100.1,4.3,182,2057,0.50,0.00,62.10,0.747,6,0.120,0.000,2458,1993,3484
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2058,begin climb
$GC,2059,0.74,78.2,101.1,0.0,187,2130,1.12,2.88,61.30,0.729,4,0.104,0.091,2687,3415,3165
$GC,2169,0.85,173.1,97.3,5.4,196,2250,0.08,2.80,72.85,0.716,6,0.063,0.084,2712,1989,2778
$GC,2439,0.85,173.1,74.5,9.0,218,2443,0.00,2.92,0.00,0.000,4,0.000,0.131,2712,576,2778
$GC,2476,0.85,173.1,70.6,10.0,220,2484,0.00,2.70,0.00,0.000,6,0.000,0.071,2713,2010,2777
$GC,2672,0.85,173.1,52.9,8.8,236,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2010,2778
$GC,2863,0.85,173.1,36.6,8.4,251,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2010,2778
$GC,3054,0.85,173.1,20.3,8.0,266,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2010,2778
$GC,3250,0.91,229.3,6.1,6.2,295,3275,0.00,0.00,23.38,0.693,2,0.000,0.000,2713,2010,2651
$STATE,3276,end climb,SURFACE_DEPTH_REACHED
$STATE,3276,begin surface coast
$FINISH,1.4,1.019913
$STATE,3367,end surface coast,CONTROL_FINISHED_OK
$STATE,3367,begin surface
$SM_CCo,3387,134.68,0.651,0,0,1648,450.13
$SM_GC,1.49,0.00,0.00,134.68,0.000,0.000,0.651,36,2106,1648,-11.47,0.20,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2101
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.3,7.7
$24V_AH,23.8,21.159
$10V_AH,10.2,5.523
$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,27.900,45.775,219.625,134.675,0.000,32.581,35.865,127.883,2.000,0.000,0.000,12.534,598.152,1945.633,460.215,525.782,310.495,33.338,789.656,0.000,530.131,0.000,5.351
$DEVICE_MAMPS,201.721,142.662,747.058,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9585,313
$CFSIZE,260034560,253378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,174417,4739.938,-12251.431,10,3.0,29,18.3