version: 66.02
glider: 22
mission: 2
dive: 122
start: 9 24 107 17 55 41
data:
$ID,22
$MISSION,2
$DIVE,122
$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,-111212.48
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,175023,4740.600,-12247.759,9,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,175435,4740.594,-12247.749,17,4.1,36,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,-0.037
$KALMAN_X,22066.9,878.7,522.8,-16932.6,-46.4
$KALMAN_Y,6303.9,208.2,145.6,-4982.6,-47.6
$MHEAD_RNG_PITCHd_Wd,239.1,7116,-23.4,-8.333
$D_GRID,104
$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,-43.53,0.000,2,0.000,0.000,38,2109,2625
$GC,72,-1.54,-68.4,2.1,-2.5,7,139,12.85,2.72,-47.03,0.000,4,0.203,0.104,2185,3517,3763
$GC,158,-1.54,-68.4,7.4,-13.4,21,165,0.00,2.72,0.00,0.000,6,0.000,0.088,2185,2108,3763
$GC,230,-1.54,-68.4,17.5,-14.6,32,237,0.00,2.92,0.00,0.000,4,0.000,0.128,2184,681,3763
$GC,415,-1.54,-68.4,37.9,-11.4,48,419,0.00,2.70,0.00,0.000,6,0.000,0.081,2185,2108,3763
$GC,616,-1.54,-68.4,61.2,-12.3,64,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2108,3764
$GC,807,-1.54,-68.4,82.6,-9.9,79,811,0.00,2.75,0.00,0.000,4,0.000,0.103,2185,3522,3765
$GC,825,-1.54,-68.4,84.8,-10.6,80,830,0.00,2.72,0.00,0.000,6,0.000,0.082,2185,2093,3765
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,968,-0.31,0.0,100.7,11.3,91,1026,1.45,0.00,54.08,0.730,6,0.148,0.000,2455,1981,3484
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1029,1.54,68.4,102.4,0.0,96,1090,2.00,2.78,53.30,0.721,4,0.097,0.097,2862,581,3205
$GC,1103,1.54,68.4,97.3,10.0,102,1111,0.00,2.65,0.00,0.000,6,0.000,0.061,2862,2006,3205
$GC,1299,1.54,68.4,70.3,14.3,118,1303,0.00,2.60,0.00,0.000,4,0.000,0.072,2862,3412,3205
$GC,1555,1.54,68.4,43.3,10.4,137,1563,0.00,2.58,0.00,0.000,6,0.000,0.052,2862,1997,3204
$GC,1752,1.54,68.4,24.6,9.7,153,1756,0.00,2.62,0.00,0.000,4,0.000,0.068,2862,3417,3204
$GC,1778,1.54,68.4,22.0,9.9,155,1782,0.00,2.58,0.00,0.000,6,0.000,0.057,2862,1998,3204
$GC,1984,1.61,132.0,9.8,3.2,184,2039,0.00,2.85,48.40,0.678,4,0.000,0.108,2862,582,2944
$GC,2290,1.74,256.7,5.8,-1.8,231,2395,0.22,2.60,94.35,0.660,6,0.061,0.061,2918,2008,2436
$STATE,2399,end climb,SURFACE_DEPTH_REACHED
$STATE,2399,begin surface coast
$FINISH,0.6,1.019652
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2441,103.82,0.635,0,0,1647,450.13
$SM_GC,1.67,0.00,0.00,103.82,0.000,0.000,0.635,36,2109,1647,-11.46,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2111
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.8
$ALTIM_BOTTOM_PING,50.7,7.8
$24V_AH,23.9,19.230
$10V_AH,10.2,4.993
$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,29.800,38.175,250.125,103.825,0.000,32.591,35.949,85.755,0.750,0.000,0.000,37.092,444.364,1229.504,439.183,464.712,252.256,33.348,727.622,0.000,445.732,0.000,6.957
$DEVICE_MAMPS,203.255,128.089,730.184,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6427,252
$CFSIZE,260034560,254013440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,183851,4740.435,-12248.391,11,1.4,11,18.3