version: 66.02
glider: 22
mission: 2
dive: 137
start: 9 25 107 7 53 27
data:
$ID,22
$MISSION,2
$DIVE,137
$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,-111619.53
$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,14
$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
$GPS1,074808,4739.652,-12252.411,32,1.3,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.2
$GPS2,075203,4739.650,-12252.416,14,1.4,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.264,-0.110
$KALMAN_X,25058.2,-35.1,408.0,-24722.3,-81.8
$KALMAN_Y,7993.6,84.3,39.4,-8194.3,22.1
$MHEAD_RNG_PITCHd_Wd,229.0,1037,-10.5,-7.407
$D_GRID,123
$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,-78.2,0.0,0.0,0,75,0.00,0.00,-49.33,0.000,2,0.000,0.000,38,2118,2735
$GC,78,-0.74,-78.2,2.1,-2.1,8,151,13.68,2.78,-52.33,0.000,4,0.196,0.119,2363,3513,3802
$GC,178,-0.74,-78.2,4.8,-7.1,24,185,0.00,2.80,0.00,0.000,6,0.000,0.096,2363,2091,3801
$GC,250,-0.74,-78.2,8.8,-5.2,35,257,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,682,3802
$GC,370,-0.74,-78.2,15.3,-5.5,53,376,0.00,2.70,0.00,0.000,6,0.000,0.084,2362,2104,3802
$GC,442,-0.74,-78.2,18.6,-4.6,64,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2104,3802
$GC,511,-0.74,-78.2,21.8,-4.7,72,516,0.00,2.78,0.00,0.000,4,0.000,0.110,2363,3516,3803
$GC,563,-0.74,-78.2,24.5,-5.2,76,568,0.00,2.80,0.00,0.000,6,0.000,0.098,2362,2097,3803
$GC,759,-0.74,-78.2,33.3,-4.9,91,764,0.00,2.97,0.00,0.000,4,0.000,0.142,2362,681,3803
$GC,804,-0.74,-78.2,35.6,-5.2,94,809,0.00,2.72,0.00,0.000,6,0.000,0.086,2363,2108,3804
$GC,1000,-0.74,-78.2,46.5,-5.5,109,1005,0.00,2.80,0.00,0.000,4,0.000,0.112,2363,3523,3804
$GC,1046,-0.74,-78.2,49.1,-5.9,112,1050,0.00,2.83,0.00,0.000,6,0.000,0.101,2363,2094,3804
$GC,1241,-0.74,-78.2,60.3,-5.8,127,1246,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,676,3804
$GC,1265,-0.74,-78.2,61.9,-6.5,128,1274,0.00,2.75,0.00,0.000,6,0.000,0.087,2362,2101,3804
$GC,1462,-0.74,-78.2,73.1,-5.3,144,1467,0.00,2.80,0.00,0.000,4,0.000,0.114,2363,3513,3804
$GC,1508,-0.74,-78.2,75.8,-6.0,147,1513,0.00,2.83,0.00,0.000,6,0.000,0.103,2362,2089,3804
$GC,1703,-0.74,-78.2,85.5,-4.5,162,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2088,3804
$GC,1894,-0.74,-78.2,94.0,-4.6,177,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2088,3804
$STATE,2029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2029,begin apogee
$GC,2034,-0.31,0.0,100.3,4.5,188,2099,0.50,0.00,61.45,0.749,6,0.123,0.000,2459,1989,3484
$STATE,2100,end apogee,CONTROL_FINISHED_OK
$STATE,2100,begin climb
$GC,2101,0.74,78.2,101.6,0.0,193,2174,1.12,2.95,61.03,0.734,4,0.107,0.131,2686,582,3163
$GC,2240,0.83,154.4,96.4,5.8,204,2305,0.10,2.67,58.60,0.723,6,0.069,0.071,2714,2014,2852
$GC,2502,0.83,154.4,74.3,8.8,225,2506,0.00,2.70,0.00,0.000,4,0.000,0.091,2714,3420,2852
$GC,2553,0.83,154.4,69.4,9.5,228,2561,0.00,2.78,0.00,0.000,6,0.000,0.083,2714,1993,2852
$GC,2749,0.83,154.4,52.1,9.2,244,2754,0.00,2.92,0.00,0.000,4,0.000,0.131,2713,577,2851
$GC,2801,0.83,154.4,47.3,9.4,247,2808,0.00,2.67,0.00,0.000,6,0.000,0.068,2714,2006,2851
$GC,2997,0.83,154.4,30.0,8.4,263,3002,0.00,2.95,0.00,0.000,4,0.000,0.125,2713,569,2851
$GC,3038,0.83,154.4,26.2,9.9,266,3043,0.00,2.67,0.00,0.000,6,0.000,0.071,2714,2013,2851
$GC,3238,0.86,179.8,10.3,6.9,290,3263,0.00,0.00,18.60,0.703,6,0.000,0.000,2714,2013,2750
$STATE,3321,end climb,SURFACE_DEPTH_REACHED
$STATE,3321,begin surface coast
$FINISH,0.6,1.002909
$STATE,3407,end surface coast,CONTROL_FINISHED_OK
$STATE,3407,begin surface
$SM_CCo,3428,150.18,0.652,0,0,1648,450.13
$SM_GC,1.47,0.00,0.00,150.18,0.000,0.000,0.652,38,2110,1648,-11.47,0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2118
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.3,7.7
$24V_AH,23.8,20.500
$10V_AH,10.2,5.327
$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,27.725,62.175,199.675,150.175,0.000,32.578,34.676,91.018,3.000,0.000,0.000,14.466,615.171,1941.495,477.304,549.041,278.518,33.346,830.680,0.000,551.125,0.000,5.350
$DEVICE_MAMPS,196.352,142.662,749.359,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,209.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9572,316
$CFSIZE,260034560,253603840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,085407,4739.433,-12252.910,11,1.7,28,18.3