version: 66.02
glider: 22
mission: 2
dive: 219
start: 9 28 107 12 9 44
data:
$ID,22
$MISSION,2
$DIVE,219
$D_SURF,5
$D_FLARE,2
$D_TGT,55
$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,-113781.61
$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,2165
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,24
$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
$GPS1,120415,4739.025,-12252.756,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,120820,4739.015,-12252.731,12,1.3,12,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,0.207
$KALMAN_X,27416.4,129.1,-56.7,-27172.7,-14.6
$KALMAN_Y,2693.5,-459.0,-189.5,-3297.9,-68.5
$MHEAD_RNG_PITCHd_Wd,3.0,933,-26.9,-12.222
$D_GRID,128
$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,-1.77,-78.2,0.0,0.0,0,83,0.00,0.00,-55.60,0.000,2,0.000,0.000,38,2179,2867
$GC,86,-1.77,-78.2,2.4,-4.2,9,147,12.50,3.00,-37.85,0.000,4,0.201,0.135,2137,754,3803
$GC,318,-1.77,-78.2,31.2,-15.5,40,323,0.00,2.72,0.00,0.000,6,0.000,0.090,2137,2168,3804
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,467,-0.31,0.0,55.3,16.3,51,536,1.75,0.00,61.60,0.680,6,0.156,0.000,2457,2090,3483
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,539,1.77,78.2,59.0,0.0,57,607,2.20,2.72,59.85,0.669,4,0.099,0.089,2908,681,3164
$GC,672,1.77,78.2,48.2,12.5,67,677,0.00,2.60,0.00,0.000,6,0.000,0.057,2909,2120,3164
$GC,875,1.78,90.3,24.3,11.2,83,890,0.00,2.88,8.80,0.689,4,0.000,0.091,2908,674,3116
$GC,925,1.78,90.3,18.0,12.8,88,932,0.00,2.60,0.00,0.000,6,0.000,0.058,2908,2107,3116
$GC,997,1.79,101.2,9.3,11.3,99,1011,0.00,2.75,8.20,0.688,4,0.000,0.085,2908,3517,3071
$GC,1024,1.80,107.3,6.2,11.7,103,1036,0.00,2.62,4.68,0.702,6,0.000,0.061,2908,2092,3045
$STATE,1040,end climb,SURFACE_DEPTH_REACHED
$STATE,1040,begin surface coast
$FINISH,3.3,1.020447
$STATE,1096,end surface coast,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$SM_CCo,1118,178.20,0.621,0,0,1647,450.13
$SM_GC,1.43,0.00,0.00,178.20,0.000,0.000,0.621,39,2184,1647,-11.46,0.57,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026845
$HUMID,2083
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,40.8,8.3
$24V_AH,23.9,27.312
$10V_AH,10.2,7.151
$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,30.050,22.225,143.125,178.200,0.000,32.606,35.845,99.612,1.250,0.000,0.000,13.007,252.905,459.499,418.870,206.806,255.673,33.316,580.290,0.000,213.335,0.000,2.444
$DEVICE_MAMPS,200.954,134.992,701.805,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,73.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3326,114
$CFSIZE,260034560,251514880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,123208,4739.051,-12252.664,7,1.9,13,18.3