version: 66.02
glider: 22
mission: 2
dive: 128
start: 9 24 107 22 33 15
data:
$ID,22
$MISSION,2
$DIVE,128
$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,125
$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,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,-111441.4
$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,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
$GPS1,222832,4740.260,-12250.248,13,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.6
$GPS2,223209,4740.269,-12250.215,11,1.5,11,18.3
$SPEED_LIMITS,0.115,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,-0.107
$KALMAN_X,22371.8,630.3,-446.6,-19100.2,58.5
$KALMAN_Y,6901.8,104.3,-44.1,-5894.4,118.8
$MHEAD_RNG_PITCHd_Wd,220.9,4012,-14.1,-6.667
$D_GRID,92
$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,-1.01,-122.2,0.0,0.0,0,70,0.00,0.00,-43.97,0.000,2,0.000,0.000,41,2108,2633
$GC,73,-1.01,-122.2,2.2,-1.5,7,146,13.52,2.78,-52.65,0.000,4,0.204,0.115,2305,3515,3983
$GC,206,-1.01,-122.2,10.8,-9.1,28,213,0.00,2.78,0.00,0.000,6,0.000,0.094,2305,2098,3984
$GC,278,-1.01,-122.2,15.6,-6.2,39,285,0.00,2.92,0.00,0.000,4,0.000,0.133,2305,681,3984
$GC,330,-1.01,-122.2,19.5,-7.8,47,338,0.00,2.72,0.00,0.000,6,0.000,0.084,2305,2094,3984
$GC,406,-1.01,-122.2,25.8,-8.5,54,410,0.00,2.80,0.00,0.000,4,0.000,0.107,2305,3517,3986
$GC,445,-1.01,-122.2,29.4,-9.8,57,450,0.00,2.80,0.00,0.000,6,0.000,0.096,2305,2091,3985
$GC,647,-1.01,-122.2,46.6,-7.8,73,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2091,3986
$GC,836,-1.01,-122.2,61.6,-8.0,88,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2091,3986
$GC,1027,-1.01,-122.2,77.3,-9.3,103,1031,0.00,2.85,0.00,0.000,4,0.000,0.107,2305,3523,3986
$GC,1058,-1.01,-122.2,80.9,-11.8,105,1063,0.00,2.80,0.00,0.000,6,0.000,0.097,2305,2094,3986
$STATE,1158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1158,begin apogee
$GC,1163,-0.31,0.0,90.7,8.4,113,1262,0.80,0.00,95.70,0.715,6,0.135,0.000,2457,1987,3484
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1265,1.01,122.2,93.8,0.0,121,1369,1.40,2.90,95.20,0.703,4,0.101,0.118,2742,580,2984
$GC,1394,1.01,122.2,87.0,9.2,131,1399,0.00,2.65,0.00,0.000,6,0.000,0.062,2743,2020,2984
$GC,1596,1.01,122.2,67.2,9.5,147,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2020,2984
$GC,1788,1.01,122.2,54.2,7.6,162,1793,0.00,2.60,0.00,0.000,4,0.000,0.079,2743,3413,2984
$GC,1865,1.01,122.2,48.1,8.5,167,1873,0.00,2.67,0.00,0.000,6,0.000,0.072,2743,2001,2984
$GC,2061,1.01,122.2,34.2,7.3,183,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2000,2984
$GC,2252,1.01,123.7,21.3,6.6,198,2257,0.00,2.85,0.00,0.000,4,0.000,0.120,2743,582,2984
$GC,2317,1.01,123.7,15.8,8.2,206,2324,0.00,2.60,0.00,0.000,6,0.000,0.064,2743,2009,2984
$GC,2389,1.01,123.7,10.5,7.5,217,2395,0.00,2.65,0.00,0.000,4,0.000,0.085,2743,3417,2984
$GC,2409,1.01,123.7,9.0,7.6,220,2416,0.00,2.67,0.00,0.000,6,0.000,0.074,2743,1992,2984
$GC,2481,1.13,230.3,5.8,2.8,231,2574,0.15,2.83,81.88,0.662,4,0.068,0.088,2777,3405,2544
$STATE,2578,end climb,SURFACE_DEPTH_REACHED
$STATE,2578,begin surface coast
$FINISH,0.7,1.019635
$STATE,2890,end surface coast,CONTROL_FINISHED_OK
$STATE,2891,begin surface
$SM_CCo,2913,120.78,0.642,0,0,1648,450.13
$SM_GC,1.73,0.00,0.00,120.78,0.000,0.000,0.642,38,2078,1648,-11.46,-0.59,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2125
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.5,7.9
$24V_AH,23.9,19.783
$10V_AH,10.2,5.117
$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,28.400,49.675,272.775,120.775,0.000,32.590,41.331,73.010,1.250,0.000,0.000,11.676,521.192,1538.896,494.162,477.292,251.466,33.339,810.398,0.000,484.049,0.000,5.349
$DEVICE_MAMPS,204.022,132.691,714.844,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9590,294
$CFSIZE,260034560,253857792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,232450,4740.155,-12250.491,11,1.8,28,18.3