version: 66.02
glider: 22
mission: 2
dive: 231
start: 9 28 107 20 2 14
data:
$ID,22
$MISSION,2
$DIVE,231
$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,100
$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,-114158.35
$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,19
$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
$GPS1,195627,4739.854,-12251.271,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.2
$GPS2,200108,4739.882,-12251.239,9,1.6,14,18.3
$SPEED_LIMITS,0.212,0.225
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.168
$KALMAN_X,29231.0,520.2,315.3,-27892.8,28.4
$KALMAN_Y,3036.0,-314.9,54.4,-2428.7,95.3
$MHEAD_RNG_PITCHd_Wd,203.3,1641,-26.6,-12.222
$D_GRID,118
$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,-1.77,-97.8,0.0,0.0,0,82,0.00,0.00,-55.70,0.000,2,0.000,0.000,37,2176,2844
$GC,85,-1.77,-97.8,2.1,-3.7,9,146,12.45,0.00,-43.10,0.000,6,0.200,0.000,2137,2176,3883
$GC,212,-1.77,-97.8,14.3,-17.2,29,218,0.00,2.78,0.00,0.000,4,0.000,0.111,2137,3565,3884
$GC,277,-1.77,-97.8,26.4,-18.1,37,282,0.00,2.75,0.00,0.000,6,0.000,0.098,2137,2163,3884
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,452,begin apogee
$GC,457,-0.31,0.0,56.3,17.3,51,539,1.73,0.00,76.43,0.664,6,0.154,0.000,2455,2087,3484
$STATE,540,end apogee,CONTROL_FINISHED_OK
$STATE,540,begin climb
$GC,542,1.77,97.8,59.9,0.0,58,628,2.20,2.75,75.30,0.657,4,0.100,0.092,2907,681,3084
$GC,681,1.77,97.8,47.8,14.7,69,685,0.00,2.58,0.00,0.000,6,0.000,0.056,2907,2117,3084
$GC,882,1.77,97.8,20.0,13.1,85,887,0.00,2.78,0.00,0.000,4,0.000,0.093,2907,681,3084
$GC,915,1.77,97.8,15.7,13.2,89,922,0.00,2.58,0.00,0.000,6,0.000,0.058,2907,2107,3084
$GC,988,1.78,112.9,8.0,11.0,100,1006,0.00,2.70,11.02,0.663,4,0.000,0.084,2907,3521,3022
$GC,1012,1.81,136.2,5.5,10.3,104,1020,0.00,2.62,2.78,0.707,2,0.000,0.057,2907,2085,3008
$STATE,1021,end climb,SURFACE_DEPTH_REACHED
$STATE,1021,begin surface coast
$FINISH,3.8,1.020741
$STATE,1026,end surface coast,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$SM_CCo,1049,176.82,0.611,0,0,1647,450.13
$SM_GC,1.32,0.00,0.00,176.82,0.000,0.000,0.611,39,2179,1647,-11.46,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2016
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,41.0,8.0
$24V_AH,23.9,28.411
$10V_AH,10.2,7.387
$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,30.050,21.825,165.525,176.825,0.000,0.000,0.000,0.000,0.750,0.000,0.000,14.966,216.152,404.210,438.799,191.033,61.469,33.326,596.301,0.000,195.699,0.000,2.446
$DEVICE_MAMPS,200.187,120.419,707.174,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,67.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3308,106
$CFSIZE,260034560,251248640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,202344,4739.830,-12251.317,12,1.4,30,18.3