version: 66.02
glider: 22
mission: 2
dive: 61
start: 9 22 107 15 38 14
data:
$ID,22
$MISSION,2
$DIVE,61
$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,400
$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,-109569.96
$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,13
$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
$GPS1,152709,4739.840,-12251.896,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.5
$GPS2,153707,4739.803,-12251.903,39,1.2,44,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,-0.064
$KALMAN_X,9442.9,405.0,257.0,-8754.8,12.9
$KALMAN_Y,4034.0,390.6,90.8,-4306.2,-59.7
$MHEAD_RNG_PITCHd_Wd,236.5,1736,-15.7,-8.333
$D_GRID,122
$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,23,-1.14,-146.6,0.0,0.0,0,100,0.00,0.00,-73.88,0.000,2,0.000,0.000,39,2110,3015
$GC,102,-1.14,-146.6,2.5,-4.4,12,164,13.38,3.00,-40.95,0.000,4,0.203,0.143,2274,681,3995
$GC,203,-1.14,-146.6,8.6,-10.6,28,210,0.00,2.67,0.00,0.000,6,0.000,0.074,2274,2111,3996
$GC,275,-1.14,-146.6,16.5,-10.9,39,282,0.00,2.67,0.00,0.000,4,0.000,0.092,2274,3513,3996
$GC,307,-1.14,-146.6,20.1,-11.5,44,314,0.00,2.75,0.00,0.000,6,0.000,0.088,2274,2092,3996
$GC,503,-1.14,-146.6,39.6,-10.1,60,507,0.00,2.75,0.00,0.000,4,0.000,0.090,2274,3514,3998
$GC,547,-1.14,-146.6,44.2,-10.0,63,555,0.00,2.78,0.00,0.000,6,0.000,0.089,2274,2094,3998
$GC,744,-1.14,-146.6,63.7,-9.7,79,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2094,3998
$GC,934,-1.14,-146.6,82.0,-9.7,94,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2095,3998
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1122,begin apogee
$GC,1127,-0.31,0.0,100.2,9.4,109,1232,0.95,0.00,98.28,0.736,6,0.130,0.000,2457,1985,3484
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1235,1.14,146.6,103.2,0.0,118,1358,1.55,2.85,113.28,0.719,4,0.104,0.113,2772,579,2886
$GC,1410,1.14,146.6,90.7,11.6,132,1414,0.00,2.62,0.00,0.000,6,0.000,0.061,2772,2016,2885
$GC,1612,1.14,146.6,67.4,11.7,148,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2015,2885
$GC,1802,1.14,146.6,45.5,11.1,163,1807,0.00,2.90,0.00,0.000,4,0.000,0.116,2771,582,2885
$GC,1826,1.14,146.6,42.5,11.7,164,1834,0.00,2.62,0.00,0.000,6,0.000,0.060,2772,2007,2885
$GC,2022,1.14,146.6,21.0,11.3,180,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2007,2885
$GC,2220,1.16,162.1,3.3,7.7,209,2239,0.00,2.62,11.62,0.700,4,0.000,0.071,2772,3416,2821
$STATE,2243,end climb,SURFACE_DEPTH_REACHED
$STATE,2243,begin surface coast
$FINISH,0.6,1.020941
$STATE,2278,end surface coast,CONTROL_FINISHED_OK
$STATE,2278,begin surface
$SM_CCo,2301,127.82,0.653,0,0,1853,400.08
$SM_GC,1.39,0.00,0.00,127.82,0.000,0.000,0.653,41,2085,1853,-11.45,-0.42,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2103
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,6.8
$ALTIM_BOTTOM_PING,51.2,7.1
$24V_AH,23.8,14.023
$10V_AH,10.2,3.705
$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,28.400,32.950,223.175,127.825,0.000,65.189,68.243,292.886,1.000,0.000,0.000,44.531,396.292,1278.256,467.274,392.683,525.526,33.348,715.467,0.000,364.958,0.000,6.953
$DEVICE_MAMPS,203.255,142.662,736.320,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,142.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6452,218
$CFSIZE,260034560,255508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,161947,4739.632,-12252.334,11,2.3,30,18.3