version: 66.02
glider: 22
mission: 2
dive: 126
start: 9 24 107 21 8 38
data:
$ID,22
$MISSION,2
$DIVE,126
$D_SURF,5
$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,45
$T_MISSION,90
$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,-111363.49
$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,40
$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
$GPS1,210350,4740.438,-12249.501,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.6
$GPS2,210732,4740.438,-12249.478,15,1.5,15,18.3
$SPEED_LIMITS,0.128,0.216
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.122
$KALMAN_X,22035.3,814.9,-260.9,-18219.5,-187.3
$KALMAN_Y,6652.4,115.7,-56.8,-5332.6,53.9
$MHEAD_RNG_PITCHd_Wd,217.3,4982,-15.6,-7.407
$D_GRID,88
$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,-1.11,-122.2,0.0,0.0,0,75,0.00,0.00,-50.05,0.000,2,0.000,0.000,40,2058,2772
$GC,78,-1.11,-122.2,2.3,-2.7,8,145,13.25,2.88,-44.92,0.000,4,0.199,0.105,2278,3520,3984
$GC,283,-1.11,-122.2,20.1,-11.9,40,288,0.00,2.70,0.00,0.000,6,0.000,0.090,2280,2126,3986
$GC,485,-1.11,-122.2,46.6,-15.5,56,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2126,3987
$GC,674,-1.11,-122.2,77.8,-12.4,71,679,0.00,2.72,0.00,0.000,4,0.000,0.100,2280,3514,3987
$GC,740,-1.11,-122.2,85.9,-12.7,76,745,0.00,2.80,0.00,0.000,6,0.000,0.094,2280,2091,3987
$STATE,763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,764,begin apogee
$GC,768,-0.31,0.0,88.8,11.7,78,868,0.93,0.00,96.07,0.703,6,0.136,0.000,2456,1985,3483
$STATE,869,end apogee,CONTROL_FINISHED_OK
$STATE,869,begin climb
$GC,871,1.11,122.2,90.3,0.0,86,975,1.50,2.78,94.93,0.686,4,0.100,0.097,2763,579,2983
$GC,988,1.18,186.2,86.5,4.8,96,1043,0.10,2.62,48.60,0.683,6,0.074,0.060,2788,2010,2723
$GC,1232,1.18,186.2,56.2,14.8,115,1237,0.00,2.62,0.00,0.000,4,0.000,0.079,2788,3415,2723
$GC,1332,1.18,186.2,43.1,12.4,122,1337,0.00,2.67,0.00,0.000,6,0.000,0.074,2788,1997,2723
$GC,1528,1.18,186.2,16.3,13.2,139,1535,0.00,2.85,0.00,0.000,4,0.000,0.119,2788,577,2723
$STATE,1617,end climb,SURFACE_DEPTH_REACHED
$STATE,1618,begin surface coast
$FINISH,4.2,1.020145
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1650,153.02,0.633,0,0,1649,450.13
$SM_GC,1.47,0.00,0.00,153.02,0.000,0.000,0.633,39,2108,1649,-11.46,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2057
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,7.4
$ALTIM_BOTTOM_PING,50.9,7.7
$24V_AH,23.9,19.617
$10V_AH,10.2,5.074
$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,28.525,27.700,239.600,153.025,0.000,0.000,0.000,0.000,0.750,0.000,0.000,15.044,298.272,775.897,472.748,280.010,60.928,33.349,673.701,0.000,280.273,0.000,6.957
$DEVICE_MAMPS,199.420,118.885,702.572,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,99.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3331,154
$CFSIZE,260034560,253923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,213928,4740.322,-12249.861,14,2.0,14,18.3