version: 66.02
glider: 22
mission: 2
dive: 144
start: 9 25 107 15 36 6
data:
$ID,22
$MISSION,2
$DIVE,144
$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,-111793.42
$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
$GPS1,153003,4740.489,-12251.884,15,1.3,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.1
$GPS2,153441,4740.364,-12251.510,15,1.6,17,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JLA
$TGT_LATLONG,4739.833,-12250.183
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.187
$KALMAN_X,25786.3,191.2,-176.1,-23958.7,125.4
$KALMAN_Y,7436.8,-151.1,-106.3,-5937.3,84.7
$MHEAD_RNG_PITCHd_Wd,112.6,1925,-10.5,-7.407
$D_GRID,101
$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,23,-0.74,-78.2,0.0,0.0,0,69,0.00,0.00,-44.22,0.000,2,0.000,0.000,39,2116,2640
$GC,72,-0.74,-78.2,2.2,-2.2,7,146,13.70,2.85,-54.20,0.000,4,0.198,0.122,2363,3510,3803
$GC,273,-0.74,-78.2,11.7,-5.9,38,279,0.00,2.83,0.00,0.000,6,0.000,0.102,2362,2091,3805
$GC,345,-0.74,-78.2,15.6,-5.3,49,351,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,680,3805
$GC,383,-0.74,-78.2,17.7,-5.4,55,390,0.00,2.72,0.00,0.000,6,0.000,0.087,2362,2105,3805
$GC,461,-0.74,-78.2,21.6,-5.0,65,465,0.00,2.83,0.00,0.000,4,0.000,0.114,2362,3523,3806
$GC,499,-0.74,-78.2,23.7,-5.5,67,506,0.00,2.88,0.00,0.000,6,0.000,0.103,2362,2094,3805
$GC,695,-0.74,-78.2,33.4,-4.8,83,700,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,682,3807
$GC,735,-0.74,-78.2,35.4,-5.3,86,740,0.00,2.72,0.00,0.000,6,0.000,0.087,2362,2104,3806
$GC,930,-0.74,-78.2,44.8,-4.9,101,934,0.00,2.83,0.00,0.000,4,0.000,0.114,2362,3522,3807
$GC,1004,-0.74,-78.2,48.8,-6.0,106,1009,0.00,2.85,0.00,0.000,6,0.000,0.105,2362,2092,3806
$GC,1199,-0.74,-78.2,58.3,-4.8,121,1203,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,680,3807
$GC,1250,-0.74,-78.2,60.9,-4.7,124,1258,0.00,2.75,0.00,0.000,6,0.000,0.089,2362,2098,3807
$GC,1446,-0.74,-78.2,70.5,-5.0,140,1451,0.00,2.83,0.00,0.000,4,0.000,0.114,2362,3522,3807
$GC,1519,-0.74,-78.2,74.7,-6.0,145,1523,0.00,2.85,0.00,0.000,6,0.000,0.105,2362,2090,3807
$GC,1714,-0.74,-78.2,84.4,-4.6,160,1719,0.00,2.95,0.00,0.000,4,0.000,0.141,2362,676,3807
$GC,1747,-0.74,-78.2,85.8,-4.5,162,1751,0.00,2.75,0.00,0.000,6,0.000,0.090,2362,2107,3807
$GC,1942,-0.74,-78.2,95.2,-5.0,177,1946,0.00,2.80,0.00,0.000,4,0.000,0.113,2363,3526,3806
$STATE,2031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2031,begin apogee
$GC,2038,-0.31,0.0,100.4,5.5,183,2105,0.47,0.00,61.97,0.752,6,0.128,0.000,2455,1996,3484
$STATE,2106,end apogee,CONTROL_FINISHED_OK
$STATE,2106,begin climb
$GC,2108,0.74,78.2,101.9,0.0,189,2177,1.17,0.00,61.25,0.735,6,0.103,0.000,2691,1991,3165
$GC,2366,0.83,158.0,90.4,5.7,210,2433,0.00,2.88,61.45,0.723,4,0.000,0.091,2691,3418,2838
$GC,2485,0.83,158.0,81.5,8.7,219,2490,0.00,2.80,0.00,0.000,6,0.000,0.085,2691,1991,2838
$GC,2687,0.83,158.0,65.7,7.7,235,2692,0.00,2.92,0.00,0.000,4,0.000,0.133,2690,581,2838
$GC,2738,0.83,158.0,61.3,8.5,238,2746,0.00,2.67,0.00,0.000,6,0.000,0.071,2691,2005,2837
$GC,2935,0.84,167.8,46.7,7.2,254,2949,0.10,2.75,7.03,0.743,4,0.077,0.094,2714,3418,2798
$GC,2975,0.84,167.8,43.1,9.3,257,2979,0.00,2.75,0.00,0.000,6,0.000,0.083,2714,1990,2798
$GC,3177,0.84,167.8,25.4,8.6,273,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1990,2798
$GC,3372,0.87,190.5,10.0,6.9,297,3397,0.00,2.92,17.15,0.703,4,0.000,0.127,2714,583,2706
$STATE,3442,end climb,SURFACE_DEPTH_REACHED
$STATE,3442,begin surface coast
$FINISH,1.7,1.019958
$STATE,3514,end surface coast,CONTROL_FINISHED_OK
$STATE,3515,begin surface
$SM_CCo,3538,147.60,0.651,0,0,1649,450.13
$SM_GC,1.65,0.00,0.00,147.60,0.000,0.000,0.651,39,2115,1649,-11.46,0.42,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.5,7.7
$24V_AH,23.8,21.077
$10V_AH,10.2,5.499
$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,27.875,73.950,208.850,147.600,0.000,32.607,44.785,115.995,2.000,0.000,0.000,17.535,623.977,2010.342,495.490,563.582,319.134,33.337,847.299,0.000,563.061,0.000,5.351
$DEVICE_MAMPS,197.886,141.128,751.660,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,211.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9602,319
$CFSIZE,260034560,253403136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,163838,4740.151,-12251.092,33,1.5,33,18.3