version: 66.02
glider: 22
mission: 2
dive: 321
start: 10 2 107 13 4 38
data:
$ID,22
$MISSION,2
$DIVE,321
$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,100
$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,-116573.41
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,13
$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,0
$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
$GPS1,125856,4739.546,-12252.294,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.5
$GPS2,130314,4739.583,-12252.268,15,1.8,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.233
$KALMAN_X,46840.3,418.9,144.9,-46506.4,-127.3
$KALMAN_Y,19359.3,395.6,127.7,-20083.4,-149.8
$MHEAD_RNG_PITCHd_Wd,194.2,272,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-97.8,0.0,0.0,0,96,0.00,0.00,-66.50,0.000,2,0.000,0.000,39,2218,3043
$GC,100,-0.80,-97.8,2.4,-3.0,11,155,13.57,3.05,-32.60,0.000,4,0.197,0.144,2347,781,3882
$GC,163,-0.80,-97.8,5.5,-6.2,21,170,0.00,2.80,0.00,0.000,6,0.000,0.099,2347,2203,3882
$GC,235,-0.80,-97.8,10.9,-8.1,32,242,0.00,2.88,0.00,0.000,4,0.000,0.137,2348,3576,3883
$GC,295,-0.80,-97.8,14.8,-6.3,41,301,0.00,2.80,0.00,0.000,6,0.000,0.110,2348,2189,3883
$GC,367,-0.80,-97.8,19.5,-6.2,52,373,0.00,2.92,0.00,0.000,4,0.000,0.134,2347,777,3883
$GC,433,-0.80,-97.8,23.8,-6.2,58,438,0.00,2.85,0.00,0.000,6,0.000,0.106,2347,2216,3883
$GC,628,-0.80,-97.8,35.0,-5.8,73,633,0.00,2.85,0.00,0.000,4,0.000,0.139,2348,3572,3883
$GC,693,-0.80,-97.8,39.1,-6.4,77,700,0.00,2.78,0.00,0.000,6,0.000,0.110,2347,2201,3883
$GC,889,-0.80,-97.8,51.5,-6.7,93,894,0.00,2.95,0.00,0.000,4,0.000,0.137,2347,775,3883
$GC,929,-0.80,-97.8,54.1,-6.9,95,936,0.00,2.83,0.00,0.000,6,0.000,0.109,2347,2201,3883
$GC,1125,-0.80,-97.8,67.0,-6.7,111,1129,0.00,2.85,0.00,0.000,4,0.000,0.137,2348,3574,3883
$GC,1171,-0.80,-97.8,70.3,-7.3,114,1175,0.00,2.83,0.00,0.000,6,0.000,0.115,2348,2186,3883
$GC,1366,-0.80,-97.8,82.9,-6.3,129,1371,0.00,2.90,0.00,0.000,4,0.000,0.138,2347,780,3883
$GC,1406,-0.80,-97.8,85.5,-5.8,131,1412,0.00,2.85,0.00,0.000,6,0.000,0.110,2347,2214,3883
$GC,1601,-0.80,-97.8,97.2,-5.9,147,1606,0.00,2.83,0.00,0.000,4,0.000,0.137,2348,3568,3883
$GC,1634,-0.80,-97.8,99.3,-6.6,149,1639,0.00,2.80,0.00,0.000,6,0.000,0.116,2348,2196,3883
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1657,-0.31,0.0,100.3,6.1,150,1738,0.57,0.00,77.05,0.739,6,0.135,0.000,2455,2034,3484
$STATE,1739,end apogee,CONTROL_FINISHED_OK
$STATE,1739,begin climb
$GC,1741,0.80,97.8,102.9,0.0,157,1822,1.23,0.00,76.20,0.724,6,0.103,0.000,2702,2032,3085
$GC,2012,0.92,204.4,92.7,5.0,179,2097,0.12,0.00,82.15,0.715,6,0.077,0.000,2730,2031,2650
$GC,2285,0.92,204.4,69.2,9.8,201,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2031,2649
$GC,2475,0.92,204.4,50.6,9.6,216,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2030,2649
$GC,2665,0.92,204.4,32.7,9.6,231,2669,0.00,2.88,0.00,0.000,4,0.000,0.130,2731,633,2649
$GC,2716,0.92,204.4,27.1,10.5,234,2723,0.00,2.70,0.00,0.000,6,0.000,0.078,2731,2050,2649
$GC,2918,0.92,204.4,7.2,9.5,259,2924,0.00,2.83,0.00,0.000,4,0.000,0.114,2731,3462,2649
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,0.5,1.004507
$STATE,3002,end surface coast,CONTROL_FINISHED_OK
$STATE,3002,begin surface
$SM_CCo,3027,130.50,0.646,0,0,1648,450.13
$SM_GC,1.39,0.00,0.00,130.50,0.000,0.000,0.646,38,2180,1648,-11.46,-0.57,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2072
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.7,7.8
$24V_AH,23.8,36.606
$10V_AH,10.2,9.604
$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,27.750,57.125,235.400,130.500,0.000,32.579,37.547,96.927,1.750,0.000,0.000,15.946,528.803,1656.801,495.864,455.412,325.670,33.345,792.703,0.000,457.927,0.000,5.347
$DEVICE_MAMPS,197.119,144.196,739.388,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6427,272
$CFSIZE,260034560,248868864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,135831,4739.292,-12252.552,36,1.2,40,18.3