version: 66.02
glider: 22
mission: 2
dive: 59
start: 9 22 107 13 51 23
data:
$ID,22
$MISSION,2
$DIVE,59
$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,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,-109508.49
$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
$GPS1,134123,4740.099,-12251.321,9,3.0,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.2
$GPS2,135015,4740.132,-12251.263,12,2.0,12,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.217,-0.111
$KALMAN_X,9262.0,393.8,181.8,-7689.6,231.6
$KALMAN_Y,4133.8,353.9,112.9,-3785.4,119.5
$MHEAD_RNG_PITCHd_Wd,224.6,2715,-15.7,-8.333
$D_GRID,116
$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,23,-1.14,-146.6,0.0,0.0,0,99,0.00,0.00,-73.53,0.000,2,0.000,0.000,36,2109,3010
$GC,101,-1.14,-146.6,2.4,-4.2,12,162,13.27,0.00,-44.60,0.000,6,0.199,0.000,2275,2107,3997
$GC,227,-1.14,-146.6,9.8,-10.0,32,234,0.00,3.00,0.00,0.000,4,0.000,0.135,2274,681,3998
$GC,253,-1.14,-146.6,12.6,-11.0,36,260,0.00,2.67,0.00,0.000,6,0.000,0.074,2275,2111,3998
$GC,325,-1.14,-146.6,20.5,-10.4,47,330,0.00,2.72,0.00,0.000,4,0.000,0.092,2274,3518,3998
$GC,377,-1.14,-146.6,26.0,-10.4,51,382,0.00,2.72,0.00,0.000,6,0.000,0.085,2274,2098,3999
$GC,579,-1.14,-146.6,45.6,-9.8,67,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2098,3999
$GC,768,-1.14,-146.6,64.5,-10.2,82,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2098,4000
$GC,959,-1.14,-146.6,83.5,-10.2,97,963,0.00,2.95,0.00,0.000,4,0.000,0.137,2274,682,4000
$GC,990,-1.14,-146.6,86.8,-10.4,99,994,0.00,2.70,0.00,0.000,6,0.000,0.080,2275,2114,4000
$STATE,1140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1140,begin apogee
$GC,1146,-0.31,0.0,101.1,9.2,111,1251,0.95,0.00,98.50,0.736,6,0.127,0.000,2459,1982,3483
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1254,1.14,146.6,103.8,0.0,120,1377,1.55,2.83,113.53,0.716,4,0.104,0.110,2774,583,2885
$GC,1461,1.14,146.6,85.7,12.5,136,1469,0.00,2.62,0.00,0.000,6,0.000,0.058,2773,2010,2885
$GC,1658,1.14,146.6,62.9,11.4,152,1662,0.00,2.88,0.00,0.000,4,0.000,0.114,2772,583,2884
$GC,1689,1.14,146.6,59.1,12.2,154,1697,0.00,2.62,0.00,0.000,6,0.000,0.060,2773,2010,2884
$GC,1885,1.14,146.6,36.9,11.2,170,1890,0.00,2.92,0.00,0.000,4,0.000,0.117,2773,582,2884
$GC,1938,1.14,146.6,30.4,12.2,174,1942,0.00,2.58,0.00,0.000,6,0.000,0.060,2773,2006,2884
$GC,2139,1.14,146.6,9.8,8.7,197,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2006,2884
$GC,2210,1.14,146.6,3.6,8.7,208,2217,0.00,2.60,0.00,0.000,4,0.000,0.072,2773,3421,2884
$STATE,2234,end climb,SURFACE_DEPTH_REACHED
$STATE,2234,begin surface coast
$FINISH,0.6,1.012545
$STATE,2255,end surface coast,CONTROL_FINISHED_OK
$STATE,2255,begin surface
$SM_CCo,2277,180.68,0.645,0,0,1445,500.17
$SM_GC,1.34,0.00,0.00,180.68,0.000,0.000,0.645,39,2083,1445,-11.46,-0.48,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2091
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,7.1
$ALTIM_BOTTOM_PING,50.6,7.1
$24V_AH,23.8,13.829
$10V_AH,10.2,3.658
$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,28.275,38.650,212.025,180.675,0.000,65.167,85.515,233.885,1.000,0.000,0.000,12.707,399.712,1241.804,515.780,374.361,493.092,33.353,774.372,0.000,377.348,0.000,6.952
$DEVICE_MAMPS,199.420,137.293,735.553,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6443,215
$CFSIZE,260034560,255557632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,143329,4740.004,-12251.559,15,3.0,34,18.3