version: 66.02
glider: 22
mission: 2
dive: 149
start: 9 25 107 21 1 4
data:
$ID,22
$MISSION,2
$DIVE,149
$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,-111919.11
$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
$GPS1,205544,4739.520,-12252.294,14,2.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.3
$GPS2,205941,4739.514,-12252.314,11,2.8,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.286,0.015
$KALMAN_X,25389.1,7.0,149.6,-24705.7,-140.9
$KALMAN_Y,7081.3,-111.2,123.3,-7417.0,-117.1
$MHEAD_RNG_PITCHd_Wd,254.7,1111,-10.5,-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,-0.74,-78.2,0.0,0.0,0,76,0.00,0.00,-50.08,0.000,2,0.000,0.000,38,2107,2754
$GC,79,-0.74,-78.2,2.2,-2.3,8,152,13.62,3.05,-50.97,0.000,4,0.195,0.150,2362,679,3802
$GC,305,-0.74,-78.2,12.7,-5.5,43,312,0.00,2.75,0.00,0.000,6,0.000,0.088,2362,2107,3804
$GC,377,-0.74,-78.2,16.7,-5.9,54,384,0.00,2.83,0.00,0.000,4,0.000,0.116,2363,3518,3805
$GC,470,-0.74,-78.2,21.8,-5.6,66,474,0.00,2.83,0.00,0.000,6,0.000,0.102,2363,2096,3805
$GC,664,-0.74,-78.2,31.2,-4.9,81,669,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,683,3806
$GC,702,-0.74,-78.2,33.1,-5.0,83,710,0.00,2.78,0.00,0.000,6,0.000,0.090,2362,2106,3806
$GC,899,-0.74,-78.2,42.6,-4.9,99,903,0.00,2.83,0.00,0.000,4,0.000,0.117,2363,3523,3807
$GC,978,-0.74,-78.2,46.7,-5.3,105,982,0.00,2.85,0.00,0.000,6,0.000,0.105,2363,2091,3807
$GC,1173,-0.74,-78.2,55.7,-4.5,120,1178,0.00,2.95,0.00,0.000,4,0.000,0.140,2362,678,3807
$GC,1205,-0.74,-78.2,57.2,-5.3,122,1210,0.00,2.75,0.00,0.000,6,0.000,0.091,2362,2106,3807
$GC,1401,-0.74,-78.2,66.1,-4.4,137,1405,0.00,2.80,0.00,0.000,4,0.000,0.117,2363,3514,3807
$GC,1446,-0.74,-78.2,68.3,-4.8,140,1453,0.00,2.83,0.00,0.000,6,0.000,0.105,2362,2091,3807
$GC,1642,-0.74,-78.2,76.7,-4.5,156,1647,0.00,2.95,0.00,0.000,4,0.000,0.141,2362,681,3807
$GC,1674,-0.74,-78.2,78.0,-4.7,158,1679,0.00,2.75,0.00,0.000,6,0.000,0.092,2362,2109,3807
$GC,1870,-0.74,-78.2,86.2,-3.9,173,1874,0.00,2.80,0.00,0.000,4,0.000,0.114,2363,3525,3807
$GC,1927,-0.74,-78.2,88.9,-4.6,177,1935,0.00,2.88,0.00,0.000,6,0.000,0.107,2363,2099,3807
$GC,2124,-0.74,-78.2,96.6,-4.4,193,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2099,3807
$STATE,2198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2198,begin apogee
$GC,2202,-0.31,0.0,100.1,5.0,199,2267,0.50,0.00,61.97,0.751,6,0.126,0.000,2458,1988,3484
$STATE,2268,end apogee,CONTROL_FINISHED_OK
$STATE,2268,begin climb
$GC,2270,0.74,78.2,101.2,0.0,204,2335,1.12,0.00,61.38,0.734,6,0.104,0.000,2687,1983,3165
$GC,2519,0.84,169.5,91.2,5.5,224,2596,0.12,2.88,70.18,0.721,4,0.067,0.094,2719,3412,2791
$GC,2649,0.84,169.5,80.3,10.2,234,2657,0.00,2.78,0.00,0.000,6,0.000,0.083,2719,1993,2790
$GC,2845,0.84,169.5,62.1,9.1,250,2850,0.00,2.90,0.00,0.000,4,0.000,0.128,2719,581,2790
$GC,2910,0.84,169.5,55.8,9.7,254,2918,0.00,2.67,0.00,0.000,6,0.000,0.069,2719,2009,2790
$GC,3106,0.84,169.5,38.4,8.8,270,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2008,2790
$GC,3297,0.84,169.5,21.6,8.9,285,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2008,2790
$GC,3493,0.84,169.5,5.7,8.2,313,3500,0.00,2.72,0.00,0.000,4,0.000,0.097,2719,3415,2790
$STATE,3504,end climb,SURFACE_DEPTH_REACHED
$STATE,3504,begin surface coast
$FINISH,1.8,1.020088
$STATE,3578,end surface coast,CONTROL_FINISHED_OK
$STATE,3578,begin surface
$SM_CCo,3601,157.18,0.653,0,0,1648,450.13
$SM_GC,1.54,0.00,0.00,157.18,0.000,0.000,0.653,39,2085,1648,-11.46,-0.42,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2109
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.2,7.7
$24V_AH,23.8,21.484
$10V_AH,10.2,5.621
$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,27.825,62.325,193.525,157.175,0.000,32.580,30.870,81.116,2.000,0.000,0.000,31.435,629.111,2088.516,486.244,574.167,264.545,33.341,830.577,0.000,558.592,0.000,5.351
$DEVICE_MAMPS,194.818,150.332,750.893,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,216.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9556,326
$CFSIZE,260034560,253259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,220447,4739.392,-12252.883,12,2.6,31,18.3