version: 66.02
glider: 22
mission: 2
dive: 115
start: 9 24 107 12 35 39
data:
$ID,22
$MISSION,2
$DIVE,115
$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,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,-111028.48
$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,17
$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
$GPS1,123020,4740.343,-12248.908,10,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,123435,4740.361,-12248.838,13,4.2,32,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.192,-0.014
$KALMAN_X,19270.3,-108.0,-31.0,-13968.9,332.3
$KALMAN_Y,5556.8,142.0,31.7,-4491.4,4.7
$MHEAD_RNG_PITCHd_Wd,247.4,5690,-20.6,-8.333
$D_GRID,91
$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,-1.38,-88.0,0.0,0.0,0,70,0.00,0.00,-43.85,0.000,2,0.000,0.000,39,2108,2637
$GC,73,-1.38,-88.0,2.2,-2.2,7,140,13.02,0.00,-48.53,0.000,6,0.202,0.000,2220,2107,3843
$GC,205,-1.38,-88.0,13.3,-13.0,28,211,0.00,2.70,0.00,0.000,4,0.000,0.092,2220,3516,3844
$GC,250,-1.38,-88.0,18.6,-11.9,35,257,0.00,2.72,0.00,0.000,6,0.000,0.085,2220,2098,3845
$GC,319,-1.38,-88.0,26.3,-11.1,42,324,0.00,2.90,0.00,0.000,4,0.000,0.127,2220,679,3845
$GC,344,-1.38,-88.0,29.3,-12.5,43,352,0.00,2.72,0.00,0.000,6,0.000,0.080,2220,2104,3845
$GC,541,-1.38,-88.0,53.0,-12.3,59,545,0.00,2.72,0.00,0.000,4,0.000,0.098,2220,3517,3846
$GC,572,-1.38,-88.0,57.2,-13.8,61,580,0.00,2.78,0.00,0.000,6,0.000,0.091,2220,2102,3846
$GC,768,-1.38,-88.0,81.7,-11.4,77,773,0.00,2.78,0.00,0.000,4,0.000,0.097,2220,3529,3846
$STATE,838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,839,begin apogee
$GC,846,-0.31,0.0,91.5,12.6,82,919,1.23,0.00,69.10,0.719,6,0.145,0.000,2453,1991,3484
$STATE,920,end apogee,CONTROL_FINISHED_OK
$STATE,920,begin climb
$GC,922,1.38,88.0,94.5,0.0,88,1001,1.80,2.85,68.45,0.710,4,0.101,0.104,2826,586,3123
$GC,1212,1.38,88.0,69.1,10.4,111,1216,0.00,2.58,0.00,0.000,6,0.000,0.058,2826,2015,3123
$GC,1414,1.38,88.0,48.9,10.1,127,1418,0.00,2.55,0.00,0.000,4,0.000,0.071,2827,3403,3123
$GC,1440,1.38,88.0,46.1,11.0,129,1444,0.00,2.60,0.00,0.000,6,0.000,0.064,2826,1994,3123
$GC,1642,1.38,88.0,25.8,9.6,145,1646,0.00,2.78,0.00,0.000,4,0.000,0.108,2826,583,3123
$GC,1693,1.38,88.0,20.8,9.6,148,1701,0.00,2.60,0.00,0.000,6,0.000,0.059,2826,2002,3123
$GC,1899,1.51,205.6,6.2,0.9,178,1998,0.15,2.70,89.35,0.663,4,0.065,0.079,2868,3415,2645
$STATE,2075,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,1.0,1.019836
$STATE,2104,end surface coast,CONTROL_FINISHED_OK
$STATE,2104,begin surface
$SM_CCo,2128,142.65,0.638,0,0,1649,450.13
$SM_GC,1.36,0.00,0.00,142.65,0.000,0.000,0.638,35,2087,1649,-11.47,-0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2091
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,51.5,7.8
$24V_AH,23.9,18.692
$10V_AH,10.2,4.856
$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,29.450,43.475,226.900,142.650,0.000,32.610,31.709,98.884,1.250,0.000,0.000,33.084,386.737,1041.689,471.861,398.957,255.856,33.339,729.644,0.000,381.955,0.000,6.958
$DEVICE_MAMPS,202.488,127.322,718.679,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6479,210
$CFSIZE,260034560,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,131432,4740.394,-12248.598,13,1.8,29,18.3