version: 66.02
glider: 22
mission: 2
dive: 135
start: 9 25 107 5 42 33
data:
$ID,22
$MISSION,2
$DIVE,135
$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,-111588.06
$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,19
$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
$GPS1,053637,4739.894,-12251.505,13,1.2,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.4
$GPS2,054109,4739.916,-12251.477,11,1.3,11,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.269,-0.099
$KALMAN_X,24743.5,-49.6,503.6,-23317.6,110.3
$KALMAN_Y,7855.1,75.2,69.4,-7586.8,31.1
$MHEAD_RNG_PITCHd_Wd,231.4,2308,-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,-78.2,0.0,0.0,0,63,0.00,0.00,-37.38,0.000,2,0.000,0.000,38,2095,2487
$GC,66,-0.74,-78.2,2.0,-1.4,6,145,13.65,0.00,-61.70,0.000,6,0.196,0.000,2363,2090,3802
$GC,210,-0.74,-78.2,6.7,-6.1,29,217,0.00,2.97,0.00,0.000,4,0.000,0.140,2363,680,3804
$GC,289,-0.74,-78.2,11.1,-5.5,41,296,0.00,2.70,0.00,0.000,6,0.000,0.082,2363,2105,3805
$GC,361,-0.74,-78.2,15.0,-5.2,52,368,0.00,2.80,0.00,0.000,4,0.000,0.110,2363,3516,3806
$GC,447,-0.74,-78.2,19.7,-5.8,65,453,0.00,2.80,0.00,0.000,6,0.000,0.098,2363,2091,3806
$GC,516,-0.74,-78.2,23.5,-5.5,71,521,0.00,2.95,0.00,0.000,4,0.000,0.140,2363,678,3807
$GC,553,-0.74,-78.2,25.6,-5.7,73,561,0.00,2.75,0.00,0.000,6,0.000,0.085,2363,2104,3807
$GC,750,-0.74,-78.2,36.1,-5.5,89,755,0.00,2.80,0.00,0.000,4,0.000,0.110,2363,3520,3807
$GC,801,-0.74,-78.2,39.2,-6.0,92,809,0.00,2.85,0.00,0.000,6,0.000,0.099,2363,2091,3807
$GC,998,-0.74,-78.2,49.8,-5.7,108,1005,0.00,2.95,0.00,0.000,4,0.000,0.142,2363,680,3807
$GC,1029,-0.74,-78.2,51.7,-6.1,110,1037,0.00,2.75,0.00,0.000,6,0.000,0.085,2363,2108,3807
$GC,1226,-0.74,-78.2,61.6,-4.8,126,1230,0.00,2.78,0.00,0.000,4,0.000,0.110,2363,3515,3807
$GC,1285,-0.74,-78.2,65.0,-5.8,130,1289,0.00,2.80,0.00,0.000,6,0.000,0.099,2363,2091,3808
$GC,1480,-0.74,-78.2,75.0,-5.0,145,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2091,3807
$GC,1670,-0.74,-78.2,84.7,-5.3,160,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2091,3807
$GC,1860,-0.74,-78.2,93.9,-4.9,175,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2090,3807
$STATE,1995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1995,begin apogee
$GC,2000,-0.31,0.0,100.3,4.7,186,2070,0.50,0.00,62.15,0.746,6,0.118,0.000,2460,1988,3484
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2072,0.74,78.2,102.1,0.0,192,2145,1.10,3.00,60.92,0.732,4,0.100,0.127,2686,582,3163
$GC,2164,0.88,199.1,99.4,4.9,199,2264,0.15,2.67,92.65,0.716,6,0.061,0.069,2725,2014,2671
$GC,2452,0.88,199.1,72.8,10.1,222,2456,0.00,2.67,0.00,0.000,4,0.000,0.090,2725,3412,2671
$GC,2475,0.88,199.1,70.0,10.6,223,2484,0.00,2.75,0.00,0.000,6,0.000,0.084,2725,2002,2671
$GC,2672,0.88,199.1,50.1,10.1,239,2677,0.00,2.92,0.00,0.000,4,0.000,0.130,2725,579,2671
$GC,2731,0.88,199.1,43.9,10.7,243,2735,0.00,2.65,0.00,0.000,6,0.000,0.071,2725,2004,2670
$GC,2933,0.88,199.1,24.4,9.4,259,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2004,2670
$GC,3129,0.88,199.1,7.3,7.9,285,3136,0.00,2.70,0.00,0.000,4,0.000,0.093,2725,3415,2671
$STATE,3160,end climb,SURFACE_DEPTH_REACHED
$STATE,3160,begin surface coast
$FINISH,1.1,1.019123
$STATE,3233,end surface coast,CONTROL_FINISHED_OK
$STATE,3234,begin surface
$SM_CCo,3256,139.98,0.651,0,0,1647,450.13
$SM_GC,1.44,0.00,0.00,139.98,0.000,0.000,0.651,37,2093,1647,-11.47,-0.20,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2123
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.1,7.7
$24V_AH,23.8,20.341
$10V_AH,10.2,5.278
$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,27.700,56.075,215.725,139.975,0.000,32.609,39.244,128.850,2.000,0.000,0.000,11.325,577.334,1838.514,479.710,507.823,313.327,33.347,812.693,0.000,513.704,0.000,5.367
$DEVICE_MAMPS,195.585,141.895,745.524,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9593,301
$CFSIZE,260034560,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,063951,4739.822,-12251.932,9,1.4,9,18.3