version: 66.02
glider: 22
mission: 2
dive: 118
start: 9 24 107 14 52 27
data:
$ID,22
$MISSION,2
$DIVE,118
$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,-111093.18
$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,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
$GPS1,144205,4740.603,-12247.793,10,2.6,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.4
$GPS2,145121,4740.607,-12247.547,12,1.8,12,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,-0.009
$KALMAN_X,21371.4,267.7,319.5,-15182.0,758.5
$KALMAN_Y,6007.1,127.0,35.6,-4477.0,111.0
$MHEAD_RNG_PITCHd_Wd,248.9,7364,-20.6,-8.333
$D_GRID,103
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.38,-88.0,0.0,0.0,0,74,0.00,0.00,-49.38,0.000,2,0.000,0.000,36,2113,2745
$GC,77,-1.38,-88.0,2.2,-2.9,8,150,12.80,2.75,-50.35,0.000,4,0.195,0.103,2220,3513,3844
$GC,256,-1.38,-88.0,13.5,-11.4,36,263,0.00,2.72,0.00,0.000,6,0.000,0.085,2220,2094,3844
$GC,334,-1.38,-88.0,21.7,-10.9,47,339,0.00,2.88,0.00,0.000,4,0.000,0.125,2219,680,3845
$GC,353,-1.38,-88.0,24.1,-11.5,48,358,0.00,2.70,0.00,0.000,6,0.000,0.079,2220,2110,3845
$GC,555,-1.38,-88.0,47.7,-12.0,64,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2113,3846
$GC,748,-1.38,-88.0,70.5,-12.0,79,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2112,3846
$GC,935,-1.38,-88.0,90.0,-9.6,94,939,0.00,2.95,0.00,0.000,4,0.000,0.127,2219,679,3846
$GC,953,-1.38,-88.0,91.9,-9.7,95,958,0.00,2.70,0.00,0.000,6,0.000,0.084,2220,2105,3846
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1045,-0.31,0.0,101.0,10.4,102,1118,1.25,0.00,69.57,0.726,6,0.140,0.000,2456,1983,3484
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1121,1.38,88.0,102.8,0.0,108,1198,1.80,2.83,68.28,0.714,4,0.103,0.101,2822,587,3124
$GC,1250,1.38,88.0,92.0,12.6,118,1259,0.00,2.62,0.00,0.000,6,0.000,0.061,2823,2006,3124
$GC,1447,1.38,88.0,67.1,11.3,134,1451,0.00,2.85,0.00,0.000,4,0.000,0.108,2822,578,3124
$GC,1703,1.38,88.2,41.9,8.3,153,1711,0.00,2.62,0.00,0.000,6,0.000,0.058,2823,2013,3124
$GC,1900,1.38,88.2,23.7,11.1,169,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2013,3124
$GC,2097,1.49,189.7,13.3,1.9,196,2184,0.15,2.92,77.35,0.672,4,0.067,0.107,2858,580,2709
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,0.9,1.020114
$STATE,2315,end surface coast,CONTROL_FINISHED_OK
$STATE,2315,begin surface
$SM_CCo,2339,154.18,0.640,0,0,1648,450.13
$SM_GC,1.58,0.00,0.00,154.18,0.000,0.000,0.640,38,2108,1648,-11.46,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2110
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.1
$ALTIM_BOTTOM_PING,70.5,7.9
$24V_AH,23.9,18.925
$10V_AH,10.2,4.916
$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,28.925,33.700,215.200,154.175,0.000,97.739,191.652,73.048,1.250,0.000,0.000,12.770,418.665,1338.169,467.590,401.666,455.655,33.353,730.757,0.000,404.547,0.000,11.250
$DEVICE_MAMPS,194.818,126.555,726.349,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6429,230
$CFSIZE,260034560,254115840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,153445,4740.777,-12247.323,12,1.7,12,18.3