version: 66.02
glider: 22
mission: 2
dive: 116
start: 9 24 107 13 19 20
data:
$ID,22
$MISSION,2
$DIVE,116
$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,-111045.47
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,131432,4740.394,-12248.598,13,1.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.6
$GPS2,131814,4740.394,-12248.513,11,1.6,16,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,0.008
$KALMAN_X,19886.1,-39.8,59.3,-14336.2,502.0
$KALMAN_Y,5640.5,135.1,35.8,-4513.8,-1.0
$MHEAD_RNG_PITCHd_Wd,254.0,6096,-20.6,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.38,-88.0,0.0,0.0,0,69,0.00,0.00,-43.50,0.000,2,0.000,0.000,37,2087,2628
$GC,72,-1.38,-88.0,2.1,-2.4,7,145,13.05,2.88,-51.97,0.000,4,0.202,0.133,2221,680,3844
$GC,151,-1.38,-88.0,6.0,-11.4,20,159,0.00,2.67,0.00,0.000,6,0.000,0.076,2221,2105,3843
$GC,224,-1.38,-88.0,14.6,-12.6,31,230,0.00,2.72,0.00,0.000,4,0.000,0.095,2221,3522,3844
$GC,307,-1.38,-88.0,25.9,-12.9,41,315,0.00,2.78,0.00,0.000,6,0.000,0.089,2221,2102,3844
$GC,504,-1.38,-88.0,49.4,-12.3,57,509,0.00,2.90,0.00,0.000,4,0.000,0.126,2220,678,3845
$GC,594,-1.38,-88.0,60.9,-12.7,63,602,0.00,2.70,0.00,0.000,6,0.000,0.078,2221,2099,3845
$GC,791,-1.38,-88.0,86.8,-14.2,79,796,0.00,2.75,0.00,0.000,4,0.000,0.097,2221,3512,3846
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,850,-0.31,0.0,96.1,16.6,83,923,1.25,0.00,69.57,0.721,6,0.155,0.000,2453,1985,3483
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,925,1.38,88.0,98.9,0.0,89,1002,1.83,2.88,68.57,0.709,4,0.100,0.106,2825,576,3123
$GC,1221,1.38,88.0,70.2,11.0,112,1226,0.00,2.60,0.00,0.000,6,0.000,0.060,2825,2011,3123
$GC,1424,1.38,88.0,49.5,9.6,128,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2011,3123
$GC,1614,1.38,88.0,30.8,9.7,143,1618,0.00,2.85,0.00,0.000,4,0.000,0.107,2825,574,3123
$GC,1870,1.41,112.8,7.3,6.8,173,1896,0.00,2.60,18.42,0.686,6,0.000,0.060,2825,2012,3024
$GC,1962,1.54,228.6,4.3,1.0,187,2048,0.17,0.00,82.90,0.653,2,0.063,0.000,2867,2012,2580
$STATE,2049,end climb,SURFACE_DEPTH_REACHED
$STATE,2049,begin surface coast
$FINISH,0.6,1.020001
$STATE,2087,end surface coast,CONTROL_FINISHED_OK
$STATE,2087,begin surface
$SM_CCo,2109,113.15,0.637,0,0,1648,450.13
$SM_GC,1.41,0.00,0.00,113.15,0.000,0.000,0.637,38,2111,1648,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2089
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,7.1
$ALTIM_BOTTOM_PING,51.0,7.8
$24V_AH,23.8,18.768
$10V_AH,10.2,4.874
$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,29.325,33.475,239.475,113.150,0.000,32.598,34.784,79.655,1.250,0.000,0.000,16.356,376.537,1032.490,444.274,384.200,238.919,33.344,697.950,0.000,382.880,0.000,6.957
$DEVICE_MAMPS,202.488,132.691,720.980,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,207
$CFSIZE,260034560,254169088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,135729,4740.456,-12248.180,14,5.0,33,18.3