version: 66.02
glider: 22
mission: 2
dive: 134
start: 9 25 107 4 36 31
data:
$ID,22
$MISSION,2
$DIVE,134
$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,-111576.1
$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
$GPS1,042717,4739.836,-12251.085,10,3.5,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,043508,4739.944,-12251.156,54,1.4,54,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.277,-0.073
$KALMAN_X,24490.1,-30.0,402.2,-22584.1,224.3
$KALMAN_Y,7686.1,85.6,97.4,-7404.0,16.3
$MHEAD_RNG_PITCHd_Wd,236.9,2701,-10.5,-7.407
$D_GRID,118
$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,24,-0.74,-78.2,0.0,0.0,0,69,0.00,0.00,-43.38,0.000,2,0.000,0.000,37,2109,2623
$GC,72,-0.74,-78.2,2.3,-2.4,7,146,13.60,3.05,-54.05,0.000,4,0.195,0.143,2362,680,3804
$GC,232,-0.74,-78.2,7.8,-6.6,32,239,0.00,2.70,0.00,0.000,6,0.000,0.079,2362,2109,3805
$GC,305,-0.74,-78.2,11.5,-4.8,43,311,0.00,2.80,0.00,0.000,4,0.000,0.109,2362,3525,3806
$GC,483,-0.74,-78.2,21.0,-5.4,68,489,0.00,2.80,0.00,0.000,6,0.000,0.097,2362,2094,3808
$GC,678,-0.74,-78.2,30.7,-5.2,84,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2094,3808
$GC,868,-0.74,-78.2,40.4,-5.1,99,873,0.00,2.95,0.00,0.000,4,0.000,0.140,2361,681,3808
$GC,905,-0.74,-78.2,42.3,-5.6,101,913,0.00,2.72,0.00,0.000,6,0.000,0.084,2362,2101,3809
$GC,1102,-0.74,-78.2,51.6,-4.8,117,1106,0.00,2.80,0.00,0.000,4,0.000,0.112,2362,3514,3809
$GC,1148,-0.74,-78.2,54.1,-5.8,120,1152,0.00,2.80,0.00,0.000,6,0.000,0.099,2362,2090,3809
$GC,1343,-0.74,-78.2,64.1,-5.1,135,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2090,3809
$GC,1533,-0.74,-78.2,73.2,-4.8,150,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2090,3809
$GC,1723,-0.74,-78.2,82.4,-5.0,165,1727,0.00,2.85,0.00,0.000,4,0.000,0.107,2362,3521,3809
$GC,1768,-0.74,-78.2,84.8,-5.8,168,1772,0.00,2.80,0.00,0.000,6,0.000,0.100,2362,2096,3808
$GC,1963,-0.74,-78.2,94.5,-5.1,183,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2096,3809
$STATE,2087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2088,begin apogee
$GC,2092,-0.31,0.0,100.3,4.6,193,2162,0.50,0.00,62.08,0.746,6,0.117,0.000,2460,1995,3484
$STATE,2163,end apogee,CONTROL_FINISHED_OK
$STATE,2163,begin climb
$GC,2165,0.74,78.2,101.6,0.0,199,2234,1.12,0.00,61.12,0.732,6,0.100,0.000,2688,1992,3165
$GC,2423,0.86,181.3,90.4,5.2,220,2507,0.12,0.00,79.32,0.715,6,0.067,0.000,2723,1992,2743
$GC,2696,0.86,181.3,65.6,9.9,242,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1992,2743
$GC,2886,0.86,181.3,47.4,9.6,257,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1992,2743
$GC,3075,0.86,181.3,29.7,9.1,272,3079,0.00,2.90,0.00,0.000,4,0.000,0.127,2722,574,2743
$GC,3133,0.86,181.3,23.7,10.1,276,3137,0.00,2.65,0.00,0.000,6,0.000,0.064,2722,2022,2742
$GC,3336,0.86,181.3,6.3,7.6,303,3342,0.00,2.62,0.00,0.000,4,0.000,0.087,2722,3404,2742
$STATE,3360,end climb,SURFACE_DEPTH_REACHED
$STATE,3360,begin surface coast
$FINISH,3.7,1.021000
$STATE,3374,end surface coast,CONTROL_FINISHED_OK
$STATE,3374,begin surface
$SM_CCo,3396,153.07,0.650,0,0,1648,450.13
$SM_GC,1.62,0.00,0.00,153.07,0.000,0.000,0.650,38,2094,1648,-11.46,-0.17,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.8,20.258
$10V_AH,10.2,5.254
$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,27.700,39.200,202.525,153.075,0.000,65.186,76.819,143.753,3.500,0.000,0.000,54.409,585.545,2065.903,482.051,530.262,404.757,33.347,780.108,0.000,495.165,0.000,5.352
$DEVICE_MAMPS,194.818,143.429,746.291,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9587,309
$CFSIZE,260034560,253693952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,053637,4739.894,-12251.505,13,1.2,23,18.3