version: 66.02
glider: 22
mission: 2
dive: 60
start: 9 22 107 14 45 59
data:
$ID,22
$MISSION,2
$DIVE,60
$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,150
$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,500
$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,-109524.8
$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,10
$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
$GPS1,143329,4740.004,-12251.559,15,3.0,34,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.3
$GPS2,144451,4740.007,-12251.527,15,1.8,15,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.096
$KALMAN_X,9380.3,410.2,241.9,-8213.0,114.8
$KALMAN_Y,4145.1,386.0,112.8,-4059.1,27.1
$MHEAD_RNG_PITCHd_Wd,228.6,2317,-15.7,-8.333
$D_GRID,120
$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,20,begin dive
$GC,23,-1.14,-146.6,0.0,0.0,0,98,0.00,0.00,-73.40,0.000,2,0.000,0.000,39,2084,2998
$GC,101,-1.14,-146.6,2.2,-3.2,12,162,13.30,0.00,-44.70,0.000,6,0.201,0.000,2274,2082,3995
$GC,227,-1.14,-146.6,9.4,-9.5,32,234,0.00,2.72,0.00,0.000,4,0.000,0.086,2274,3511,3996
$GC,292,-1.14,-146.6,17.0,-11.3,42,299,0.00,2.75,0.00,0.000,6,0.000,0.088,2274,2091,3997
$GC,362,-1.14,-146.6,23.9,-9.2,50,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2091,3996
$GC,554,-1.14,-146.6,42.2,-10.1,65,559,0.00,2.75,0.00,0.000,4,0.000,0.088,2274,3517,3997
$GC,592,-1.14,-146.6,46.4,-10.9,67,599,0.00,2.78,0.00,0.000,6,0.000,0.090,2274,2096,3998
$GC,788,-1.14,-146.6,65.9,-10.0,83,793,0.00,2.95,0.00,0.000,4,0.000,0.137,2274,677,3999
$GC,820,-1.14,-146.6,69.2,-10.2,85,825,0.00,2.67,0.00,0.000,6,0.000,0.081,2274,2097,3998
$GC,1022,-1.14,-146.6,89.1,-9.4,101,1027,0.00,2.72,0.00,0.000,4,0.000,0.096,2274,3514,3998
$GC,1093,-1.14,-146.6,96.4,-10.0,106,1101,0.00,2.78,0.00,0.000,6,0.000,0.091,2274,2098,3998
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1142,-0.31,0.0,100.7,9.8,110,1248,0.95,0.00,98.30,0.732,6,0.130,0.000,2457,1977,3484
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1249,begin climb
$GC,1251,1.14,146.6,103.4,0.0,119,1373,1.58,2.90,113.40,0.718,4,0.103,0.115,2775,582,2886
$GC,1406,1.14,146.6,92.6,12.0,132,1410,0.00,2.62,0.00,0.000,6,0.000,0.061,2774,2017,2886
$GC,1608,1.14,146.6,68.3,12.0,148,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2018,2887
$GC,1798,1.14,146.6,45.8,12.0,163,1803,0.00,2.90,0.00,0.000,4,0.000,0.114,2774,580,2885
$GC,1835,1.14,146.6,41.1,12.6,165,1843,0.00,2.60,0.00,0.000,6,0.000,0.058,2775,2002,2885
$GC,2032,1.14,146.6,18.5,11.7,182,2039,0.00,2.60,0.00,0.000,4,0.000,0.071,2775,3418,2885
$GC,2058,1.14,146.6,15.4,11.7,186,2065,0.00,2.65,0.00,0.000,6,0.000,0.065,2775,1987,2885
$GC,2131,1.17,168.6,9.1,7.5,197,2149,0.00,0.00,16.35,0.690,6,0.000,0.000,2775,1987,2796
$STATE,2214,end climb,SURFACE_DEPTH_REACHED
$STATE,2214,begin surface coast
$FINISH,0.6,1.021070
$STATE,2234,end surface coast,CONTROL_FINISHED_OK
$STATE,2234,begin surface
$SM_CCo,2254,170.18,0.646,0,0,1444,500.17
$SM_GC,1.36,0.00,0.00,170.18,0.000,0.000,0.646,39,2109,1444,-11.46,0.28,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2084
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,7.8
$ALTIM_BOTTOM_PING,85.5,7.9
$24V_AH,23.8,13.930
$10V_AH,10.2,3.682
$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,28.325,38.875,228.050,170.175,0.000,97.781,117.638,231.465,2.000,0.000,0.000,15.681,397.944,1269.645,523.476,368.645,581.448,33.351,779.149,0.000,367.641,0.000,12.644
$DEVICE_MAMPS,200.954,136.526,732.485,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,213
$CFSIZE,260034560,255537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,152709,4739.840,-12251.896,12,1.9,12,18.3