version: 66.02
glider: 22
mission: 2
dive: 125
start: 9 24 107 20 24 2
data:
$ID,22
$MISSION,2
$DIVE,125
$D_SURF,5
$D_FLARE,2
$D_TGT,45
$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,20
$T_MISSION,60
$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,125
$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,-111307.48
$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,15
$R_STBD_OVSHOOT,11
$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
$GPS1,201856,4740.448,-12249.362,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.9
$GPS2,202256,4740.458,-12249.347,13,1.6,13,18.3
$SPEED_LIMITS,0.130,0.217
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.111
$KALMAN_X,21864.0,836.0,-123.3,-18039.5,-204.1
$KALMAN_Y,6538.4,123.3,-27.1,-5221.0,-29.9
$MHEAD_RNG_PITCHd_Wd,220.9,5148,-15.8,-7.500
$D_GRID,89
$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,21,begin dive
$GC,23,-1.12,-122.2,0.0,0.0,0,74,0.00,0.00,-49.28,0.000,2,0.000,0.000,38,2099,2751
$GC,77,-1.12,-122.2,2.3,-2.6,8,145,13.23,2.75,-46.28,0.000,4,0.199,0.106,2277,3517,3984
$GC,170,-1.12,-122.2,8.6,-11.4,23,177,0.00,2.75,0.00,0.000,6,0.000,0.090,2277,2098,3985
$GC,242,-1.12,-122.2,14.8,-8.9,34,249,0.00,2.90,0.00,0.000,4,0.000,0.127,2276,677,3985
$GC,353,-1.12,-122.2,25.3,-9.1,47,360,0.00,2.72,0.00,0.000,6,0.000,0.083,2277,2099,3986
$GC,549,-1.12,-122.2,43.8,-9.5,63,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2100,3987
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,577,-0.31,0.0,46.2,9.3,65,676,0.95,0.00,95.38,0.671,6,0.137,0.000,2457,1978,3484
$STATE,677,end apogee,CONTROL_FINISHED_OK
$STATE,677,begin climb
$GC,679,1.12,122.2,48.7,0.0,73,783,1.52,2.83,94.38,0.660,4,0.099,0.105,2770,576,2984
$GC,821,1.12,122.2,39.9,11.3,85,826,0.00,2.65,0.00,0.000,6,0.000,0.061,2770,2022,2984
$GC,1023,1.12,122.2,20.1,8.5,101,1028,0.00,2.90,0.00,0.000,4,0.000,0.110,2769,572,2984
$GC,1169,1.14,137.4,7.6,6.9,122,1188,0.00,2.62,11.20,0.670,6,0.000,0.064,2770,2002,2922
$GC,1253,1.35,336.5,6.2,-0.7,135,1365,0.25,0.00,107.38,0.637,2,0.061,0.000,2829,2002,2343
$STATE,1366,end climb,SURFACE_DEPTH_REACHED
$STATE,1366,begin surface coast
$FINISH,0.7,1.003585
$STATE,1536,end surface coast,CONTROL_FINISHED_OK
$STATE,1536,begin surface
$SM_CCo,1557,90.85,0.627,0,0,1648,450.13
$SM_GC,1.50,0.00,0.00,90.85,0.000,0.000,0.627,40,2116,1648,-11.45,0.45,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2071
$TCM_TEMP,20.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.9,7.7
$ALTIM_BOTTOM_PING,30.8,7.8
$24V_AH,23.9,19.523
$10V_AH,10.2,5.053
$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,28.650,22.575,308.325,90.850,0.000,0.000,0.000,0.000,1.500,0.000,0.000,13.035,300.639,611.444,468.854,287.225,62.800,33.364,685.148,0.000,297.145,0.000,4.052
$DEVICE_MAMPS,199.420,127.322,671.125,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3313,179
$CFSIZE,260034560,253947904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,205215,4740.428,-12249.553,12,1.6,12,18.3