version: 66.02
glider: 22
mission: 2
dive: 120
start: 9 24 107 16 23 22
data:
$ID,22
$MISSION,2
$DIVE,120
$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,-111138.05
$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,12
$R_STBD_OVSHOOT,12
$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
$GPS1,161838,4740.812,-12247.296,16,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.0
$GPS2,162216,4740.823,-12247.251,10,1.4,10,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.080
$KALMAN_X,22063.3,640.1,556.3,-16103.4,481.4
$KALMAN_Y,6468.4,164.1,61.8,-4598.7,211.7
$MHEAD_RNG_PITCHd_Wd,227.3,7837,-20.6,-8.333
$D_GRID,102
$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,-88.0,0.0,0.0,0,75,0.00,0.00,-49.60,0.000,2,0.000,0.000,38,2106,2762
$GC,78,-1.38,-88.0,2.5,-3.9,8,145,13.00,2.75,-46.35,0.000,4,0.201,0.107,2222,3519,3844
$GC,171,-1.38,-88.0,7.5,-11.4,23,178,0.00,2.78,0.00,0.000,6,0.000,0.091,2222,2094,3844
$GC,243,-1.38,-88.0,17.9,-14.7,34,249,0.00,2.90,0.00,0.000,4,0.000,0.128,2221,679,3844
$GC,442,-1.38,-88.0,41.9,-11.5,51,446,0.00,2.70,0.00,0.000,6,0.000,0.081,2222,2104,3844
$GC,636,-1.38,-88.0,64.4,-11.7,66,641,0.00,2.75,0.00,0.000,4,0.000,0.100,2222,3510,3845
$GC,715,-1.38,-88.0,73.7,-11.7,72,719,0.00,2.75,0.00,0.000,6,0.000,0.093,2222,2096,3846
$GC,917,-1.38,-88.0,94.6,-10.1,88,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2096,3845
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,971,-0.31,0.0,100.2,11.0,92,1044,1.25,0.00,69.28,0.726,6,0.142,0.000,2458,1985,3484
$STATE,1045,end apogee,CONTROL_FINISHED_OK
$STATE,1045,begin climb
$GC,1046,1.38,88.0,101.2,0.0,98,1126,1.77,2.85,68.18,0.720,4,0.098,0.105,2828,587,3124
$GC,1183,1.38,88.0,88.7,12.7,109,1191,0.00,2.62,0.00,0.000,6,0.000,0.061,2829,2007,3123
$GC,1380,1.38,88.0,63.5,12.3,125,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2007,3123
$GC,1570,1.38,88.0,42.8,10.0,140,1574,0.00,2.60,0.00,0.000,4,0.000,0.073,2828,3416,3123
$GC,1628,1.38,88.0,37.0,9.7,144,1633,0.00,2.62,0.00,0.000,6,0.000,0.064,2828,1995,3123
$GC,1830,1.38,88.0,19.7,8.9,160,1837,0.00,2.78,0.00,0.000,4,0.000,0.109,2828,583,3123
$GC,1849,1.38,88.0,17.9,9.4,163,1856,0.00,2.60,0.00,0.000,6,0.000,0.061,2828,2015,3123
$GC,1922,1.39,95.2,12.7,7.9,174,1934,0.00,2.90,5.18,0.726,4,0.000,0.113,2828,585,3095
$GC,2086,1.46,158.1,6.0,4.4,199,2141,0.00,2.60,47.80,0.675,6,0.000,0.062,2828,2015,2839
$GC,2207,1.60,284.3,3.3,0.3,218,2287,0.22,0.00,77.28,0.653,2,0.060,0.000,2883,2015,2392
$STATE,2289,end climb,SURFACE_DEPTH_REACHED
$STATE,2289,begin surface coast
$FINISH,0.6,1.020074
$STATE,2360,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2381,88.20,0.640,0,0,1648,450.13
$SM_GC,1.59,0.00,0.00,88.20,0.000,0.000,0.640,38,2102,1648,-11.46,0.06,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2112
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,6.7
$ALTIM_BOTTOM_PING,51.3,7.5
$24V_AH,23.8,19.080
$10V_AH,10.2,4.954
$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,29.300,38.550,267.700,88.200,0.000,32.586,33.256,83.293,0.750,0.000,0.000,10.894,426.630,1185.668,452.417,410.200,245.554,33.343,731.724,0.000,417.902,0.000,6.950
$DEVICE_MAMPS,200.954,128.089,726.349,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,242
$CFSIZE,260034560,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,170514,4740.752,-12247.424,9,1.9,9,18.3