version: 66.02
glider: 22
mission: 2
dive: 130
start: 9 25 107 0 24 51
data:
$ID,22
$MISSION,2
$DIVE,130
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-111470.52
$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,10
$R_STBD_OVSHOOT,12
$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
$GPS1,001937,4740.191,-12250.684,39,1.3,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.2
$GPS2,002327,4740.210,-12250.660,15,1.4,15,18.3
$SPEED_LIMITS,0.183,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.168,-0.095
$KALMAN_X,22873.5,373.6,-317.0,-20032.2,194.9
$KALMAN_Y,7281.0,81.8,10.1,-6417.3,143.2
$MHEAD_RNG_PITCHd_Wd,222.3,3457,-15.5,-6.667
$D_GRID,118
$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,-1.06,-88.0,0.0,0.0,0,70,0.00,0.00,-44.22,0.000,2,0.000,0.000,39,2111,2642
$GC,73,-1.06,-88.0,2.3,-1.8,7,146,13.38,3.05,-49.42,0.000,4,0.200,0.143,2290,682,3843
$GC,232,-1.06,-88.0,13.4,-8.4,32,239,0.00,2.70,0.00,0.000,6,0.000,0.081,2291,2106,3844
$GC,304,-1.06,-88.0,18.9,-7.7,43,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2106,3844
$GC,372,-1.06,-88.0,24.3,-7.8,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2105,3846
$GC,562,-1.06,-88.0,39.6,-7.9,65,567,0.00,2.78,0.00,0.000,4,0.000,0.105,2291,3522,3846
$GC,613,-1.06,-88.0,43.9,-8.8,68,621,0.00,2.83,0.00,0.000,6,0.000,0.097,2291,2103,3846
$GC,809,-1.06,-88.0,59.7,-8.3,84,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2104,3846
$GC,1000,-1.06,-88.0,77.3,-9.5,99,1004,0.00,2.80,0.00,0.000,4,0.000,0.104,2291,3517,3846
$GC,1103,-1.06,-88.0,88.2,-10.6,106,1111,0.00,2.83,0.00,0.000,6,0.000,0.100,2291,2100,3847
$STATE,1121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1126,-0.31,0.0,90.0,9.9,108,1198,0.88,0.00,69.20,0.721,6,0.133,0.000,2458,1981,3484
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,1.06,88.0,92.5,0.0,114,1281,1.48,2.80,68.35,0.712,4,0.102,0.076,2758,3419,3125
$GC,1294,1.06,88.0,88.2,6.7,122,1299,0.00,2.67,0.00,0.000,6,0.000,0.067,2757,1992,3125
$GC,1489,1.06,88.0,72.9,8.3,137,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1992,3124
$GC,1679,1.06,88.0,58.9,7.2,152,1683,0.00,2.67,0.00,0.000,4,0.000,0.075,2758,3418,3124
$GC,1835,1.06,88.0,47.5,7.4,163,1843,0.00,2.67,0.00,0.000,6,0.000,0.067,2758,1992,3124
$GC,2032,1.06,88.0,33.0,7.5,179,2037,0.00,2.83,0.00,0.000,4,0.000,0.113,2757,582,3123
$GC,2063,1.06,88.0,30.2,8.6,181,2071,0.00,2.62,0.00,0.000,6,0.000,0.060,2757,2014,3123
$GC,2262,1.06,88.0,15.3,7.4,201,2269,0.00,2.85,0.00,0.000,4,0.000,0.109,2757,583,3122
$GC,2327,1.06,88.0,10.4,7.3,211,2334,0.00,2.58,0.00,0.000,6,0.000,0.061,2757,2003,3122
$GC,2400,1.07,89.0,5.7,6.6,222,2406,0.00,2.62,0.00,0.000,4,0.000,0.082,2757,3408,3123
$STATE,2410,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,5.0,1.021528
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2527,204.27,0.645,0,0,1649,450.13
$SM_GC,1.48,0.00,0.00,204.27,0.000,0.000,0.645,37,2077,1649,-11.47,-0.65,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2073
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.9,19.936
$10V_AH,10.2,5.159
$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,28.425,43.975,137.550,204.275,0.000,32.579,45.423,77.111,1.250,0.000,0.000,15.093,472.605,1392.190,482.083,411.536,252.008,33.340,744.199,0.000,413.716,0.000,5.349
$DEVICE_MAMPS,200.187,143.429,720.980,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6468,238
$CFSIZE,260034560,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,011109,4740.127,-12250.746,14,1.8,14,18.3