version: 66.02
glider: 22
mission: 2
dive: 121
start: 9 24 107 17 9 59
data:
$ID,22
$MISSION,2
$DIVE,121
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,80
$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,70
$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,-111174.77
$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,11
$R_STBD_OVSHOOT,13
$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,10
$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
$GPS1,170514,4740.752,-12247.424,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.3
$GPS2,170853,4740.748,-12247.421,16,5.6,35,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,-0.070
$KALMAN_X,22106.8,787.0,594.5,-16543.2,203.8
$KALMAN_Y,6448.9,196.5,113.9,-4800.8,111.2
$MHEAD_RNG_PITCHd_Wd,227.6,7592,-23.4,-8.333
$D_GRID,102
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.54,-68.4,0.0,0.0,0,69,0.00,0.00,-43.47,0.000,2,0.000,0.000,38,2103,2623
$GC,72,-1.54,-68.4,2.1,-2.2,7,145,12.77,2.78,-51.15,0.000,4,0.201,0.105,2186,3518,3763
$GC,165,-1.54,-68.4,6.6,-12.1,22,172,0.00,2.78,0.00,0.000,6,0.000,0.089,2186,2090,3764
$GC,237,-1.54,-68.4,16.8,-14.6,33,244,0.00,2.90,0.00,0.000,4,0.000,0.130,2186,680,3764
$GC,334,-1.54,-68.4,28.7,-11.1,42,342,0.00,2.72,0.00,0.000,6,0.000,0.081,2185,2100,3764
$GC,530,-1.54,-68.4,54.6,-14.8,58,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2100,3765
$GC,721,-1.54,-68.4,77.6,-11.1,73,725,0.00,2.92,0.00,0.000,4,0.000,0.124,2186,676,3765
$GC,739,-1.54,-68.4,79.7,-11.0,74,743,0.00,2.72,0.00,0.000,6,0.000,0.084,2186,2110,3765
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,945,-0.31,0.0,100.8,12.4,90,1003,1.45,0.00,54.22,0.736,6,0.147,0.000,2457,1987,3484
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1006,1.54,68.4,102.8,0.0,95,1068,1.95,2.75,53.12,0.725,4,0.100,0.092,2856,586,3204
$GC,1099,1.54,68.4,97.5,9.0,102,1107,0.00,2.62,0.00,0.000,6,0.000,0.058,2856,2011,3204
$GC,1295,1.54,68.4,72.8,11.1,118,1299,0.00,2.60,0.00,0.000,4,0.000,0.073,2857,3416,3204
$GC,1551,1.54,68.4,46.3,9.6,137,1559,0.00,2.62,0.00,0.000,6,0.000,0.056,2857,1987,3203
$GC,1748,1.54,68.4,27.3,10.5,153,1752,0.00,2.65,0.00,0.000,4,0.000,0.068,2857,3418,3203
$GC,1986,1.61,130.5,7.0,3.3,184,2042,0.10,2.58,47.30,0.677,6,0.083,0.054,2880,1986,2950
$GC,2107,1.73,244.3,4.6,-0.9,203,2194,0.12,0.00,83.25,0.658,2,0.071,0.000,2910,1985,2501
$STATE,2195,end climb,SURFACE_DEPTH_REACHED
$STATE,2196,begin surface coast
$FINISH,0.6,1.020225
$STATE,2234,end surface coast,CONTROL_FINISHED_OK
$STATE,2234,begin surface
$SM_CCo,2255,106.88,0.640,0,0,1648,450.13
$SM_GC,1.60,0.00,0.00,106.88,0.000,0.000,0.640,38,2109,1648,-11.46,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2088
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.1
$ALTIM_BOTTOM_PING,50.8,7.8
$24V_AH,23.8,19.154
$10V_AH,10.2,4.972
$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,29.700,33.150,237.900,106.875,0.000,32.598,26.221,66.692,0.750,0.000,0.000,36.086,397.658,1141.422,435.711,420.522,217.503,33.345,701.046,0.000,400.494,0.000,7.996
$DEVICE_MAMPS,200.954,130.390,735.553,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,223
$CFSIZE,260034560,254042112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,175023,4740.600,-12247.759,9,2.4,28,18.3