version: 66.02
glider: 22
mission: 2
dive: 84
start: 9 23 107 10 57 29
data:
$ID,22
$MISSION,2
$DIVE,84
$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,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,-110169.94
$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,15
$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
$GPS1,105235,4740.093,-12250.536,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.7
$GPS2,105621,4740.105,-12250.461,14,1.2,14,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,-0.052
$KALMAN_X,12926.1,221.5,-93.9,-9910.4,301.1
$KALMAN_Y,3421.5,155.0,-44.2,-2767.9,67.6
$MHEAD_RNG_PITCHd_Wd,236.7,3618,-19.5,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.33,-97.8,0.0,0.0,0,81,0.00,0.00,-55.62,0.000,2,0.000,0.000,41,2106,2668
$GC,84,-1.33,-97.8,2.1,-2.9,9,164,13.07,3.03,-56.00,0.000,4,0.202,0.143,2231,681,3883
$GC,176,-1.33,-97.8,5.8,-10.4,24,183,0.00,2.67,0.00,0.000,6,0.000,0.074,2232,2109,3883
$GC,248,-1.33,-97.8,14.8,-12.2,35,255,0.00,2.70,0.00,0.000,4,0.000,0.093,2232,3519,3883
$GC,313,-1.33,-97.8,22.5,-12.6,44,318,0.00,2.72,0.00,0.000,6,0.000,0.084,2232,2098,3884
$GC,515,-1.33,-97.8,46.4,-12.7,60,520,0.00,2.92,0.00,0.000,4,0.000,0.131,2232,678,3886
$GC,587,-1.33,-97.8,54.8,-11.1,65,591,0.00,2.67,0.00,0.000,6,0.000,0.076,2232,2108,3886
$GC,789,-1.33,-97.8,78.4,-11.8,81,793,0.00,2.70,0.00,0.000,4,0.000,0.093,2232,3521,3886
$GC,867,-1.33,-97.8,88.5,-13.1,87,872,0.00,2.75,0.00,0.000,6,0.000,0.091,2233,2098,3886
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,972,-0.31,0.0,100.8,11.9,95,1054,1.17,0.00,77.15,0.729,6,0.137,0.000,2456,1989,3483
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1057,1.33,97.8,103.2,0.0,102,1143,1.75,2.83,76.00,0.720,4,0.100,0.104,2814,585,3084
$GC,1181,1.33,97.8,95.6,9.8,112,1186,0.00,2.60,0.00,0.000,6,0.000,0.059,2814,2013,3084
$GC,1383,1.33,97.8,74.5,10.4,128,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2013,3084
$GC,1574,1.33,97.8,55.2,10.0,143,1578,0.00,2.55,0.00,0.000,4,0.000,0.069,2814,3406,3084
$GC,1624,1.33,97.8,49.5,11.0,146,1632,0.00,2.62,0.00,0.000,6,0.000,0.062,2814,1995,3083
$GC,1820,1.33,97.8,29.9,9.8,162,1825,0.00,2.78,0.00,0.000,4,0.000,0.107,2814,583,3084
$GC,1979,1.33,97.8,13.8,10.3,178,1986,0.00,2.55,0.00,0.000,6,0.000,0.058,2814,2007,3083
$GC,2052,1.40,164.5,9.0,4.5,189,2107,0.00,2.70,50.38,0.677,4,0.000,0.072,2814,3415,2813
$STATE,2178,end climb,SURFACE_DEPTH_REACHED
$STATE,2178,begin surface coast
$FINISH,1.9,1.019972
$STATE,2185,end surface coast,CONTROL_FINISHED_OK
$STATE,2185,begin surface
$SM_CCo,2209,174.43,0.638,0,0,1445,500.17
$SM_GC,1.36,0.00,0.00,174.43,0.000,0.000,0.638,40,2087,1445,-11.45,-0.37,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.9,6.8
$ALTIM_BOTTOM_PING,50.3,7.0
$24V_AH,23.8,16.120
$10V_AH,10.2,4.205
$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,29.000,43.475,203.525,174.425,0.000,32.608,37.535,76.406,1.500,0.000,0.000,14.809,392.083,1132.726,495.244,380.037,243.636,33.352,753.398,0.000,379.431,0.000,6.950
$DEVICE_MAMPS,201.721,142.662,729.417,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6467,210
$CFSIZE,260034560,254951424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,113757,4740.047,-12250.471,12,1.7,12,18.3