version: 66.02
glider: 22
mission: 2
dive: 199
start: 9 28 107 1 46 28
data:
$ID,22
$MISSION,2
$DIVE,199
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,35
$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,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,-113269.3
$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,2167
$C_ROLL_CLIMB,2095
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$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
$GPS1,014117,4739.415,-12252.518,12,3.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.5
$GPS2,014523,4739.416,-12252.523,12,5.6,31,18.3
$SPEED_LIMITS,0.192,0.196
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,0.023
$KALMAN_X,27015.0,3.0,-127.6,-26314.8,-2.0
$KALMAN_Y,3714.2,-248.1,-226.1,-3751.0,-0.8
$MHEAD_RNG_PITCHd_Wd,258.4,852,-27.5,-11.111
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.81,-78.2,0.0,0.0,0,83,0.00,0.00,-55.70,0.000,2,0.000,0.000,36,2177,2870
$GC,86,-1.81,-78.2,2.3,-3.9,9,142,12.40,2.92,-36.47,0.000,4,0.200,0.136,2126,755,3801
$GC,391,-1.81,-78.2,41.5,-14.4,44,399,0.00,2.75,0.00,0.000,6,0.000,0.089,2127,2167,3803
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,465,-0.31,0.0,51.2,13.9,50,535,1.80,0.00,61.45,0.673,6,0.159,0.000,2455,2075,3484
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,538,1.81,78.2,53.8,0.0,56,610,2.25,2.85,59.97,0.669,4,0.099,0.083,2918,3520,3164
$GC,721,1.81,78.2,30.1,16.0,70,729,0.00,2.62,0.00,0.000,6,0.000,0.054,2918,2087,3164
$GC,924,1.84,111.9,5.7,7.9,96,955,0.00,2.78,25.42,0.655,4,0.000,0.081,2918,3520,3026
$GC,1014,1.98,233.3,4.1,-0.4,110,1108,0.20,2.62,84.68,0.637,6,0.069,0.061,2963,2083,2532
$STATE,1112,end climb,SURFACE_DEPTH_REACHED
$STATE,1112,begin surface coast
$FINISH,0.4,1.020430
$STATE,1166,end surface coast,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$SM_CCo,1189,100.25,0.616,0,0,1649,450.13
$SM_GC,1.34,0.00,0.00,100.25,0.000,0.000,0.616,39,2184,1649,-11.46,0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2088
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,35.1,8.7
$24V_AH,23.9,25.809
$10V_AH,10.2,6.832
$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,30.175,16.925,231.525,100.250,0.000,32.580,39.238,80.660,1.250,0.000,0.000,32.333,238.071,423.509,408.433,262.400,234.895,33.344,593.118,0.000,250.319,0.000,2.445
$DEVICE_MAMPS,200.187,135.759,673.426,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,85.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3299,134
$CFSIZE,260034560,251920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,020908,4739.405,-12252.536,38,1.4,38,18.3