version: 66.02
glider: 22
mission: 2
dive: 147
start: 9 25 107 18 55 39
data:
$ID,22
$MISSION,2
$DIVE,147
$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,-111853.69
$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,16
$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
$GPS1,185035,4739.682,-12251.948,14,3.6,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.7
$GPS2,185415,4739.667,-12251.980,14,1.3,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,-0.172
$KALMAN_X,25585.0,100.6,110.7,-24541.8,-14.4
$KALMAN_Y,7437.4,-122.6,134.6,-7495.5,35.5
$MHEAD_RNG_PITCHd_Wd,213.2,643,-11.1,-7.407
$D_GRID,124
$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,-0.78,-78.2,0.0,0.0,0,69,0.00,0.00,-43.28,0.000,2,0.000,0.000,38,2112,2609
$GC,72,-0.78,-78.2,2.0,-1.6,7,151,13.70,2.85,-56.67,0.000,4,0.199,0.123,2354,3514,3804
$GC,404,-0.78,-78.2,20.0,-5.3,58,410,0.00,2.78,0.00,0.000,6,0.000,0.097,2353,2096,3807
$GC,473,-0.78,-78.2,23.8,-5.2,64,477,0.00,2.85,0.00,0.000,4,0.000,0.110,2353,3514,3807
$GC,571,-0.78,-78.2,29.7,-6.1,71,576,0.00,2.80,0.00,0.000,6,0.000,0.099,2353,2093,3808
$GC,766,-0.78,-78.2,40.4,-5.5,86,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2092,3808
$GC,961,-0.78,-78.2,50.3,-5.2,101,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2093,3808
$GC,1157,-0.78,-78.2,61.3,-5.7,117,1162,0.00,2.95,0.00,0.000,4,0.000,0.140,2353,676,3808
$GC,1207,-0.78,-78.2,64.3,-5.9,120,1215,0.00,2.75,0.00,0.000,6,0.000,0.089,2353,2093,3808
$GC,1404,-0.78,-78.2,75.4,-5.8,136,1408,0.00,2.85,0.00,0.000,4,0.000,0.117,2354,3514,3808
$GC,1468,-0.78,-78.2,79.4,-6.4,140,1476,0.00,2.85,0.00,0.000,6,0.000,0.106,2354,2100,3808
$GC,1665,-0.78,-78.2,90.1,-5.4,156,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2100,3808
$GC,1855,-0.78,-78.2,99.9,-4.9,171,1859,0.00,2.17,0.00,0.000,3,0.000,0.107,2354,3200,3808
$STATE,1860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1860,begin apogee
$GC,1867,-0.31,0.0,100.2,5.0,171,1933,0.52,0.00,62.25,0.746,6,0.127,0.000,2456,1995,3484
$STATE,1934,end apogee,CONTROL_FINISHED_OK
$STATE,1934,begin climb
$GC,1936,0.78,78.2,102.2,0.0,177,2009,1.17,3.00,61.05,0.732,4,0.105,0.122,2692,576,3163
$GC,2048,0.87,162.2,98.2,5.5,186,2122,0.12,2.70,64.93,0.719,6,0.065,0.074,2728,2014,2820
$GC,2310,0.87,162.2,75.3,9.5,207,2315,0.00,2.70,0.00,0.000,4,0.000,0.094,2728,3410,2820
$GC,2355,0.87,162.2,70.6,10.1,210,2360,0.00,2.72,0.00,0.000,6,0.000,0.084,2728,1995,2820
$GC,2557,0.87,162.2,51.2,10.0,226,2561,0.00,2.88,0.00,0.000,4,0.000,0.125,2727,582,2820
$GC,2649,0.87,162.2,41.6,10.5,233,2653,0.00,2.62,0.00,0.000,6,0.000,0.068,2728,2006,2819
$GC,2851,0.87,162.2,22.5,9.5,249,2856,0.00,2.95,0.00,0.000,4,0.000,0.121,2727,559,2819
$GC,2897,0.87,162.2,18.1,10.2,253,2904,0.00,2.67,0.00,0.000,6,0.000,0.071,2728,2002,2819
$GC,2969,0.87,162.2,12.4,7.6,264,2976,0.00,2.72,0.00,0.000,4,0.000,0.100,2728,3415,2820
$GC,3001,0.87,162.2,9.8,7.8,269,3008,0.00,2.72,0.00,0.000,6,0.000,0.083,2728,1995,2819
$STATE,3065,end climb,SURFACE_DEPTH_REACHED
$STATE,3065,begin surface coast
$FINISH,1.9,1.019898
$STATE,3152,end surface coast,CONTROL_FINISHED_OK
$STATE,3153,begin surface
$SM_CCo,3173,154.25,0.649,0,0,1648,450.13
$SM_GC,1.47,0.00,0.00,154.25,0.000,0.000,0.649,37,2107,1648,-11.47,0.17,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2114
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.3,7.7
$24V_AH,23.8,21.327
$10V_AH,10.2,5.572
$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,28.000,55.225,188.225,154.250,0.000,32.599,34.818,78.767,1.750,0.000,0.000,14.214,564.833,1792.444,469.236,512.872,256.807,33.334,794.767,0.000,513.500,0.000,6.176
$DEVICE_MAMPS,199.420,139.594,746.291,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9591,292
$CFSIZE,260034560,253325312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,195208,4739.396,-12252.443,11,1.3,28,18.3