version: 66.02
glider: 22
mission: 2
dive: 123
start: 9 24 107 18 44 8
data:
$ID,22
$MISSION,2
$DIVE,123
$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,60
$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,-111229.54
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,183851,4740.435,-12248.391,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.4
$GPS2,184302,4740.441,-12248.409,11,1.7,16,18.3
$SPEED_LIMITS,0.144,0.158
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,-0.029
$KALMAN_X,21801.8,906.6,364.8,-17358.3,-259.5
$KALMAN_Y,6157.8,191.8,122.5,-5082.4,-120.4
$MHEAD_RNG_PITCHd_Wd,241.2,6245,-25.3,-8.333
$D_GRID,96
$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,-1.65,-58.7,0.0,0.0,0,70,0.00,0.00,-43.83,0.000,2,0.000,0.000,38,2109,2643
$GC,73,-1.65,-58.7,2.5,-3.9,7,134,12.75,0.00,-44.72,0.000,6,0.205,0.000,2160,2108,3725
$GC,199,-1.65,-58.7,12.2,-13.0,27,206,0.00,2.92,0.00,0.000,4,0.000,0.120,2160,676,3725
$GC,455,-1.65,-58.7,43.9,-11.0,50,463,0.00,2.70,0.00,0.000,6,0.000,0.076,2160,2098,3726
$GC,651,-1.65,-58.7,65.2,-12.4,66,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2098,3727
$GC,844,-1.65,-58.7,85.2,-7.9,81,848,0.00,2.75,0.00,0.000,4,0.000,0.097,2160,3523,3727
$GC,868,-1.65,-58.7,86.8,-6.0,82,876,0.00,2.78,0.00,0.000,6,0.000,0.087,2160,2099,3728
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,949,begin apogee
$GC,954,-0.31,0.0,96.6,13.7,89,1005,1.62,0.00,46.67,0.731,6,0.156,0.000,2458,1982,3484
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1008,1.65,58.7,98.5,0.0,93,1062,2.08,3.08,45.75,0.720,4,0.095,0.149,2885,592,3244
$GC,1312,1.74,144.2,98.6,0.2,116,1387,0.12,2.70,66.05,0.719,6,0.089,0.085,2911,2004,2894
$GC,1575,1.84,231.6,98.6,0.0,137,1636,0.00,0.00,58.95,0.718,2,0.000,0.000,2911,2008,2581
$STATE,1637,end climb,NO_VERTICAL_VELOCITY
$STATE,1637,begin surface
$SM_CCo,1640,382.23,0.670,3,0,658,693.22
$SM_GC,1.48,13.15,0.00,0.00,0.066,0.000,0.000,39,2122,659,-11.42,0.65,692.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2071
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,7.9
$24V_AH,23.9,19.355
$10V_AH,10.2,5.012
$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,29.725,17.325,217.425,382.225,0.000,32.580,37.028,105.031,0.500,0.000,0.000,16.425,286.299,902.596,685.531,302.658,253.973,33.355,895.646,0.000,301.801,0.000,5.350
$DEVICE_MAMPS,204.789,148.798,730.951,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,91.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3301,142
$CFSIZE,260034560,254013440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240907,192102,4740.410,-12248.907,16,1.4,33,18.3