version: 66.02
glider: 22
mission: 2
dive: 100
start: 9 23 107 23 58 44
data:
$ID,22
$MISSION,2
$DIVE,100
$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,70
$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,90
$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,-110573.47
$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,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
$GPS1,235345,4739.652,-12252.572,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.5
$GPS2,235738,4739.664,-12252.537,9,1.7,15,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.081
$KALMAN_X,17647.3,181.8,-145.8,-17126.5,207.5
$KALMAN_Y,4174.6,-44.0,9.0,-4192.9,102.0
$MHEAD_RNG_PITCHd_Wd,226.7,907,-20.6,-8.333
$D_GRID,123
$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,-1.38,-88.0,0.0,0.0,0,130,0.00,0.00,-103.32,0.000,2,0.000,0.000,37,2100,2884
$GC,133,-1.38,-88.0,2.2,-3.1,17,200,13.05,2.70,-45.83,0.000,4,0.203,0.097,2220,3515,3844
$GC,340,-1.38,-88.0,23.2,-12.1,47,344,0.00,2.70,0.00,0.000,6,0.000,0.079,2219,2093,3847
$GC,534,-1.38,-88.0,46.8,-12.4,62,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2093,3849
$GC,724,-1.38,-88.0,71.4,-13.3,77,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2093,3850
$GC,914,-1.38,-88.0,95.5,-12.4,92,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2092,3851
$STATE,962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,967,-0.31,0.0,101.4,11.6,96,1038,1.25,0.00,67.43,0.713,6,0.141,0.000,2455,1970,3484
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1041,1.38,88.0,104.3,0.0,102,1118,1.80,2.78,69.95,0.709,4,0.097,0.102,2825,589,3125
$GC,1216,1.38,88.0,91.1,11.8,115,1224,0.00,2.60,0.00,0.000,6,0.000,0.056,2826,2012,3126
$GC,1412,1.38,88.0,71.4,10.3,131,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2012,3127
$GC,1602,1.38,88.0,53.5,8.8,146,1607,0.00,2.83,0.00,0.000,4,0.000,0.108,2825,593,3127
$GC,1793,1.38,88.0,34.5,10.1,160,1797,0.00,2.55,0.00,0.000,6,0.000,0.057,2825,2016,3127
$GC,1990,1.39,93.3,16.4,8.0,178,2003,0.00,2.58,4.40,0.719,4,0.000,0.069,2826,3399,3103
$GC,2016,1.41,110.4,14.6,7.3,182,2035,0.00,2.58,12.77,0.693,6,0.000,0.061,2826,1994,3033
$GC,2101,1.43,134.6,8.8,6.8,195,2125,0.00,0.00,18.33,0.685,6,0.000,0.000,2825,1994,2935
$GC,2191,1.46,155.8,2.3,7.0,209,2205,0.10,0.00,10.90,0.690,2,0.076,0.000,2851,1994,2875
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2206,begin surface coast
$FINISH,1.1,1.020507
$STATE,2250,end surface coast,CONTROL_FINISHED_OK
$STATE,2251,begin surface
$SM_CCo,2272,155.82,0.638,0,0,1649,450.13
$SM_GC,1.44,0.00,0.00,155.82,0.000,0.000,0.638,41,2117,1649,-11.45,0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2087
$TCM_TEMP,19.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,51.4,7.8
$24V_AH,23.8,17.489
$10V_AH,10.2,4.533
$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,29.475,21.725,183.775,155.825,0.000,32.578,38.571,84.478,4.750,0.000,0.000,15.962,395.451,1191.210,475.900,380.234,251.423,33.345,728.148,0.000,380.936,0.000,7.821
$DEVICE_MAMPS,203.255,108.147,718.679,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,142.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,218
$CFSIZE,260034560,254558208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,004017,4739.599,-12252.730,11,2.1,30,18.3