version: 66.02
glider: 22
mission: 2
dive: 93
start: 9 23 107 18 0 5
data:
$ID,22
$MISSION,2
$DIVE,93
$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,-110396.58
$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,18
$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
$GPS1,175502,4739.876,-12250.734,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.1
$GPS2,175857,4739.880,-12250.705,12,1.3,12,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.030
$KALMAN_X,16020.2,491.8,271.2,-13939.6,-19.0
$KALMAN_Y,3560.6,208.1,44.3,-3463.4,-49.9
$MHEAD_RNG_PITCHd_Wd,243.1,3208,-19.5,-8.333
$D_GRID,118
$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,-55.62,0.000,2,0.000,0.000,38,2103,2682
$GC,84,-1.33,-97.8,2.2,-2.9,9,157,13.12,0.00,-53.38,0.000,6,0.202,0.000,2234,2102,3885
$GC,222,-1.33,-97.8,12.9,-11.4,31,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2102,3885
$GC,299,-1.33,-97.8,21.9,-11.5,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2102,3886
$GC,489,-1.33,-97.8,42.4,-11.1,57,493,0.00,2.70,0.00,0.000,4,0.000,0.091,2234,3529,3887
$GC,554,-1.33,-97.8,49.9,-11.5,62,564,0.00,2.75,0.00,0.000,6,0.000,0.089,2234,2103,3888
$GC,759,-1.33,-97.8,71.7,-10.6,78,763,0.00,2.92,0.00,0.000,4,0.000,0.130,2233,679,3888
$GC,785,-1.33,-97.8,74.4,-10.8,80,789,0.00,2.70,0.00,0.000,6,0.000,0.079,2234,2113,3888
$GC,987,-1.33,-97.8,97.0,-11.5,96,991,0.00,2.72,0.00,0.000,4,0.000,0.096,2234,3514,3888
$STATE,1011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1019,-0.31,0.0,100.2,12.3,98,1100,1.15,0.00,77.50,0.723,6,0.143,0.000,2453,1989,3483
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,1.33,97.8,103.3,0.0,105,1183,1.77,0.00,76.57,0.715,6,0.104,0.000,2813,1987,3084
$GC,1371,1.33,97.8,81.5,10.4,127,1375,0.00,2.78,0.00,0.000,4,0.000,0.107,2813,582,3084
$GC,1421,1.33,97.8,75.8,10.9,130,1430,0.00,2.62,0.00,0.000,6,0.000,0.058,2813,2016,3084
$GC,1618,1.33,97.8,57.0,9.2,146,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2016,3084
$GC,1808,1.33,97.8,40.5,8.6,161,1813,0.00,2.88,0.00,0.000,4,0.000,0.109,2813,573,3084
$GC,1872,1.33,101.9,35.1,8.1,165,1881,0.00,2.60,2.88,0.761,6,0.000,0.057,2813,2000,3067
$GC,2069,1.33,101.9,17.5,11.5,182,2076,0.00,2.60,0.00,0.000,4,0.000,0.070,2813,3420,3067
$GC,2088,1.33,101.9,15.4,11.4,185,2095,0.00,2.65,0.00,0.000,6,0.000,0.064,2813,1982,3067
$GC,2161,1.34,112.3,8.8,7.7,196,2174,0.00,2.85,7.50,0.717,4,0.000,0.112,2813,585,3025
$GC,2425,1.49,247.1,4.8,0.7,236,2531,0.17,2.58,98.68,0.663,2,0.063,0.059,2857,2012,2498
$STATE,2532,end climb,SURFACE_DEPTH_REACHED
$STATE,2532,begin surface coast
$FINISH,0.6,1.016841
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2598,128.10,0.633,0,0,1443,500.17
$SM_GC,1.48,0.00,0.00,128.10,0.000,0.000,0.633,40,2103,1443,-11.45,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,7.1
$ALTIM_BOTTOM_PING,50.5,7.4
$24V_AH,23.8,16.877
$10V_AH,10.2,4.386
$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,29.225,38.500,263.125,128.100,0.000,32.607,50.107,78.388,0.750,0.000,0.000,12.443,456.833,1354.789,501.708,418.203,263.353,33.346,787.981,0.000,425.578,0.000,6.973
$DEVICE_MAMPS,201.721,130.390,760.864,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6438,260
$CFSIZE,260034560,254726144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,184615,4739.813,-12251.120,11,1.3,11,18.3