version: 66.02
glider: 22
mission: 2
dive: 221
start: 9 28 107 13 19 57
data:
$ID,22
$MISSION,2
$DIVE,221
$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,693.21777
$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,-113807.33
$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,23
$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
$GPS1,130032,4739.104,-12252.559,15,2.0,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.8
$GPS2,131833,4738.998,-12252.396,11,1.2,11,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.007,0.329
$KALMAN_X,27598.6,154.0,-41.5,-26982.1,5.9
$KALMAN_Y,2473.5,-534.7,-243.2,-2977.2,-25.5
$MHEAD_RNG_PITCHd_Wd,340.5,869,-17.9,-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,26,-1.20,-78.2,0.0,0.0,0,83,0.00,0.00,-55.58,0.000,2,0.000,0.000,36,2181,2859
$GC,86,-1.20,-78.2,2.3,-3.9,9,147,13.18,2.97,-37.45,0.000,4,0.200,0.132,2257,753,3804
$GC,293,-1.20,-78.2,17.7,-8.7,41,299,0.00,2.70,0.00,0.000,6,0.000,0.087,2257,2169,3804
$GC,363,-1.20,-78.2,23.5,-8.2,49,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2169,3805
$GC,556,-1.20,-78.2,40.2,-9.0,64,560,0.00,2.83,0.00,0.000,4,0.000,0.120,2258,3572,3806
$GC,620,-1.20,-78.2,46.7,-9.5,68,627,0.00,2.80,0.00,0.000,6,0.000,0.100,2257,2171,3806
$STATE,713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,713,begin apogee
$GC,719,-0.31,0.0,55.8,9.5,76,788,1.05,0.00,61.53,0.678,6,0.139,0.000,2456,2084,3484
$STATE,789,end apogee,CONTROL_FINISHED_OK
$STATE,789,begin climb
$GC,791,1.20,78.2,57.8,0.0,82,860,1.62,0.00,60.25,0.667,6,0.097,0.000,2788,2081,3163
$GC,1049,1.31,175.0,38.7,8.6,103,1125,0.12,0.00,73.88,0.655,6,0.069,0.000,2819,2081,2770
$STATE,1306,end climb,SURFACE_DEPTH_REACHED
$STATE,1306,begin surface coast
$FINISH,0.7,1.019968
$STATE,1347,end surface coast,CONTROL_FINISHED_OK
$STATE,1347,begin surface
$SM_CCo,1369,259.67,0.607,0,0,658,693.22
$SM_GC,1.35,0.00,0.00,259.67,0.000,0.000,0.607,38,2182,658,-11.46,0.48,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2029
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,40.2,8.3
$24V_AH,23.9,27.494
$10V_AH,10.2,7.188
$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,28.575,11.650,195.650,259.675,0.000,162.969,304.383,270.753,1.500,0.000,0.000,11.631,280.203,859.971,554.206,214.062,852.938,33.321,712.124,0.000,225.109,0.000,3.577
$DEVICE_MAMPS,200.187,131.924,678.028,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,88.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3318,137
$CFSIZE,260034560,251465728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,134750,4739.099,-12252.320,10,1.7,10,18.3