version: 66.02
glider: 22
mission: 2
dive: 43
start: 9 22 107 0 54 29
data:
$ID,22
$MISSION,2
$DIVE,43
$D_SURF,2
$D_FLARE,2
$D_TGT,70
$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,40
$T_MISSION,70
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,500
$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,-109131.63
$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,15
$R_STBD_OVSHOOT,20
$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,10
$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
$GPS1,004547,4740.510,-12248.957,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.2
$GPS2,005323,4740.515,-12248.894,12,2.2,31,18.3
$SPEED_LIMITS,0.101,0.214
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.214,-0.005
$KALMAN_X,4866.8,45.7,189.8,-1.2,212.1
$KALMAN_Y,1802.1,-135.6,-16.3,-126.4,-98.4
$MHEAD_RNG_PITCHd_Wd,250.5,5714,-10.9,-5.833
$D_GRID,90
$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,-0.84,-146.6,0.0,0.0,0,92,0.00,0.00,-67.20,0.000,2,0.000,0.000,38,2112,2895
$GC,95,-0.84,-146.6,2.1,-1.7,11,168,13.70,3.00,-49.55,0.000,4,0.201,0.142,2340,695,3997
$GC,188,-0.84,-146.6,5.4,-7.5,26,195,0.00,2.65,0.00,0.000,6,0.000,0.075,2340,2107,3997
$GC,260,-0.84,-146.6,10.6,-6.6,37,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2107,3998
$GC,332,-0.84,-146.6,15.4,-6.6,48,338,0.00,2.67,0.00,0.000,4,0.000,0.086,2341,3521,3998
$GC,370,-0.84,-146.6,18.2,-7.4,54,377,0.00,2.70,0.00,0.000,6,0.000,0.079,2341,2096,3998
$GC,446,-0.84,-146.6,23.6,-7.0,62,451,0.00,2.78,0.00,0.000,4,0.000,0.089,2341,3517,3999
$GC,478,-0.84,-146.6,26.0,-7.6,64,486,0.00,2.75,0.00,0.000,6,0.000,0.081,2341,2090,3999
$GC,674,-0.84,-146.6,38.6,-6.4,80,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2090,4000
$GC,867,-0.84,-146.6,50.2,-5.8,95,872,0.00,2.92,0.00,0.000,4,0.000,0.137,2340,677,4001
$GC,891,-0.84,-146.6,51.9,-6.1,96,899,0.00,2.72,0.00,0.000,6,0.000,0.078,2341,2109,4001
$GC,1088,-0.84,-146.6,65.2,-6.9,112,1093,0.00,2.72,0.00,0.000,4,0.000,0.094,2341,3517,4001
$GC,1134,-0.84,-146.6,68.9,-8.4,115,1141,0.00,2.72,0.00,0.000,6,0.000,0.083,2341,2087,4001
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1155,-0.31,0.0,70.4,8.0,117,1261,0.60,0.00,98.22,0.709,6,0.123,0.000,2456,1988,3484
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1264,0.84,146.6,73.0,0.0,126,1385,1.23,0.00,112.53,0.693,6,0.099,0.000,2708,1984,2885
$GC,1575,0.84,146.6,53.2,7.5,151,1579,0.00,2.83,0.00,0.000,4,0.000,0.117,2707,583,2885
$GC,1598,0.84,146.6,51.2,7.4,152,1607,0.00,2.62,0.00,0.000,6,0.000,0.061,2708,2007,2884
$GC,1795,0.84,146.6,36.2,7.4,168,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2005,2884
$GC,1985,0.84,146.6,21.5,7.9,183,1990,0.00,2.90,0.00,0.000,4,0.000,0.120,2707,580,2884
$GC,2030,0.84,146.6,17.9,8.2,187,2037,0.00,2.60,0.00,0.000,6,0.000,0.061,2707,2014,2883
$GC,2102,0.84,146.6,13.2,6.2,198,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2015,2884
$GC,2174,0.84,146.6,8.1,7.3,209,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2015,2883
$GC,2245,0.89,190.0,4.2,4.7,220,2282,0.00,0.00,32.55,0.682,6,0.000,0.000,2708,2015,2709
$STATE,2305,end climb,SURFACE_DEPTH_REACHED
$STATE,2305,begin surface coast
$FINISH,0.5,1.010540
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2400,155.80,0.647,0,0,1444,500.17
$SM_GC,1.38,0.00,0.00,155.80,0.000,0.000,0.647,40,2104,1444,-11.45,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2119
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,8.0
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,12.327
$10V_AH,10.2,3.322
$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,27.725,38.925,243.300,155.800,0.000,66.036,67.611,164.640,1.000,0.000,0.000,32.652,432.508,1256.022,537.529,418.300,400.552,33.347,819.902,0.000,402.241,0.000,7.820
$DEVICE_MAMPS,200.954,141.895,708.708,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6466,241
$CFSIZE,260034560,255942656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,013807,4740.474,-12249.023,29,1.4,29,18.3