version: 66.02
glider: 22
mission: 2
dive: 63
start: 9 22 107 17 22 18
data:
$ID,22
$MISSION,2
$DIVE,63
$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,100
$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,-109641.66
$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,18
$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
$GPS1,171321,4739.542,-12252.455,13,1.6,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.8
$GPS2,172111,4739.479,-12252.796,13,2.7,32,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,0.079
$KALMAN_X,9644.4,335.4,145.9,-9890.7,-72.9
$KALMAN_Y,3730.6,316.0,-16.8,-4422.3,-214.4
$MHEAD_RNG_PITCHd_Wd,275.4,508,-20.1,-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,-1.36,-92.0,0.0,0.0,0,75,0.00,0.00,-49.97,0.000,2,0.000,0.000,37,2110,2928
$GC,78,-1.37,-97.8,2.3,-3.6,8,139,13.02,2.90,-40.80,0.000,4,0.202,0.128,2224,683,3883
$GC,237,-1.37,-97.8,17.5,-13.8,33,245,0.00,2.62,0.00,0.000,6,0.000,0.071,2225,2101,3884
$GC,307,-1.37,-97.8,25.7,-11.2,40,311,0.00,2.67,0.00,0.000,4,0.000,0.087,2225,3514,3885
$GC,346,-1.37,-97.8,30.2,-11.4,43,351,0.00,2.67,0.00,0.000,6,0.000,0.074,2225,2091,3886
$GC,548,-1.37,-97.8,53.8,-11.8,59,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2091,3887
$GC,738,-1.37,-97.8,75.7,-11.5,74,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2091,3887
$GC,927,-1.37,-97.8,98.0,-11.8,89,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2091,3887
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,957,-0.31,0.0,101.0,12.0,91,1038,1.23,0.00,77.10,0.737,6,0.136,0.000,2459,1974,3484
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1041,1.37,97.8,103.7,0.0,98,1126,1.83,2.83,75.88,0.726,4,0.103,0.105,2825,591,3084
$GC,1173,1.37,97.8,94.1,11.8,109,1177,0.00,2.58,0.00,0.000,6,0.000,0.058,2825,2012,3084
$GC,1375,1.37,97.8,69.3,12.5,125,1379,0.00,2.85,0.00,0.000,4,0.000,0.110,2824,588,3084
$GC,1433,1.37,97.8,62.0,12.7,129,1441,0.00,2.58,0.00,0.000,6,0.000,0.058,2825,1998,3083
$GC,1629,1.37,97.8,40.5,10.6,145,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1998,3084
$GC,1819,1.37,97.8,19.9,10.9,160,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1998,3083
$GC,1891,1.37,97.8,13.5,8.3,171,1898,0.00,2.60,0.00,0.000,4,0.000,0.070,2825,3418,3082
$GC,1930,1.37,104.4,10.3,7.9,177,1942,0.00,2.60,4.68,0.735,6,0.000,0.062,2825,1997,3058
$GC,2008,1.42,149.5,4.5,5.6,188,2050,0.00,2.92,33.83,0.686,4,0.000,0.118,2825,591,2873
$STATE,2082,end climb,SURFACE_DEPTH_REACHED
$STATE,2082,begin surface coast
$FINISH,0.6,1.020926
$STATE,2142,end surface coast,CONTROL_FINISHED_OK
$STATE,2142,begin surface
$SM_CCo,2164,135.10,0.652,0,0,1851,400.08
$SM_GC,1.37,0.00,0.00,135.10,0.000,0.000,0.652,38,2110,1851,-11.46,0.28,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2115
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,7.4
$ALTIM_BOTTOM_PING,50.8,7.1
$24V_AH,23.8,14.195
$10V_AH,10.2,3.749
$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,28.875,32.875,191.475,135.100,0.000,65.159,154.990,97.278,1.250,0.000,0.000,33.445,392.140,1210.707,432.639,360.125,407.548,33.339,664.968,0.000,344.368,0.000,6.968
$DEVICE_MAMPS,201.721,128.089,737.087,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,209
$CFSIZE,260034560,255467520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,180137,4739.465,-12253.140,10,2.0,26,18.3