version: 66.02
glider: 22
mission: 2
dive: 98
start: 9 23 107 22 16 13
data:
$ID,22
$MISSION,2
$DIVE,98
$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,90
$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,450
$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,-110524.23
$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
$GPS1,220753,4739.646,-12252.320,10,5.0,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.1
$GPS2,221507,4739.684,-12252.284,14,1.1,30,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.063
$KALMAN_X,17083.2,268.5,-189.6,-16289.0,83.2
$KALMAN_Y,3876.3,-4.7,-5.5,-3882.8,27.8
$MHEAD_RNG_PITCHd_Wd,232.6,1214,-20.6,-8.333
$D_GRID,124
$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,22,-1.38,-88.0,0.0,0.0,0,92,0.00,0.00,-67.55,0.000,2,0.000,0.000,38,2101,2911
$GC,95,-1.38,-88.0,2.3,-3.5,11,151,13.10,2.72,-36.95,0.000,4,0.205,0.094,2221,3514,3844
$GC,164,-1.38,-88.0,5.4,-7.3,22,170,0.00,2.65,0.00,0.000,6,0.000,0.071,2221,2093,3844
$GC,235,-1.38,-88.0,13.2,-11.8,33,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2093,3845
$GC,307,-1.38,-88.0,21.5,-11.3,43,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2093,3846
$GC,496,-1.38,-88.0,43.9,-11.7,58,501,0.00,2.75,0.00,0.000,4,0.000,0.089,2221,3526,3846
$GC,560,-1.38,-88.0,51.9,-12.4,62,568,0.00,2.72,0.00,0.000,6,0.000,0.075,2221,2092,3847
$GC,756,-1.38,-88.0,75.4,-12.2,78,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2093,3847
$GC,948,-1.38,-88.0,97.7,-11.2,93,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2093,3847
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,974,-0.31,0.0,100.6,11.4,95,1048,1.25,0.00,69.78,0.721,6,0.142,0.000,2457,1970,3485
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1050,1.38,88.0,102.9,0.0,101,1124,1.77,0.00,68.68,0.711,6,0.094,0.000,2826,1970,3125
$GC,1312,1.38,88.0,79.3,11.1,122,1316,0.00,2.72,0.00,0.000,4,0.000,0.106,2824,591,3124
$GC,1521,1.38,88.0,55.5,10.8,137,1529,0.00,2.60,0.00,0.000,6,0.000,0.057,2824,2018,3124
$GC,1718,1.38,88.0,36.0,9.5,153,1722,0.00,2.85,0.00,0.000,4,0.000,0.107,2824,583,3124
$GC,1769,1.38,88.0,30.7,10.5,156,1777,0.00,2.58,0.00,0.000,6,0.000,0.061,2824,1999,3124
$GC,1969,1.38,88.0,13.3,8.4,177,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1998,3124
$GC,2040,1.42,117.3,8.1,6.5,188,2065,0.00,0.00,22.05,0.680,6,0.000,0.000,2824,1999,3004
$GC,2131,1.50,192.7,3.2,3.6,202,2181,0.15,0.00,46.83,0.663,2,0.064,0.000,2866,2000,2751
$STATE,2182,end climb,SURFACE_DEPTH_REACHED
$STATE,2182,begin surface coast
$FINISH,0.6,1.015557
$STATE,2273,end surface coast,CONTROL_FINISHED_OK
$STATE,2273,begin surface
$SM_CCo,2294,136.30,0.634,0,0,1648,450.13
$SM_GC,1.48,0.00,0.00,136.30,0.000,0.000,0.634,35,2106,1648,-11.48,0.17,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2091
$TCM_TEMP,19.90
$XPDR_PINGS,19
$ALTIM_TOP_PING,9.8,7.4
$ALTIM_BOTTOM_PING,50.4,7.1
$24V_AH,23.8,17.310
$10V_AH,10.2,4.491
$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,29.250,21.975,207.325,136.300,0.000,65.253,141.273,78.452,5.500,0.000,0.000,30.320,408.768,1260.812,448.611,400.182,378.095,33.351,701.846,0.000,387.703,0.000,6.954
$DEVICE_MAMPS,204.789,107.380,720.980,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6453,224
$CFSIZE,260034560,254607360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,225727,4739.650,-12252.486,10,1.3,10,18.3