version: 66.02
glider: 22
mission: 2
dive: 85
start: 9 23 107 11 42 51
data:
$ID,22
$MISSION,2
$DIVE,85
$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,-110203.24
$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,23
$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
$GPS1,113757,4740.047,-12250.471,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.6
$GPS2,114144,4740.059,-12250.405,15,1.5,32,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.032
$KALMAN_X,13383.8,247.3,-55.8,-10361.5,387.8
$KALMAN_Y,3427.5,201.6,-52.9,-2895.7,47.1
$MHEAD_RNG_PITCHd_Wd,242.7,3657,-19.5,-8.333
$D_GRID,119
$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,-55.78,0.000,2,0.000,0.000,40,2088,2682
$GC,84,-1.33,-97.8,2.3,-3.6,9,157,13.05,2.92,-52.33,0.000,4,0.201,0.140,2229,680,3885
$GC,170,-1.33,-97.8,6.2,-10.3,23,177,0.00,2.67,0.00,0.000,6,0.000,0.076,2230,2103,3885
$GC,242,-1.33,-97.8,14.9,-11.6,34,249,0.00,2.70,0.00,0.000,4,0.000,0.088,2230,3525,3886
$GC,313,-1.33,-97.8,23.3,-11.5,43,321,0.00,2.78,0.00,0.000,6,0.000,0.085,2229,2098,3887
$GC,510,-1.33,-97.8,46.1,-11.6,59,514,0.00,2.92,0.00,0.000,4,0.000,0.130,2230,676,3888
$GC,575,-1.33,-97.8,54.1,-11.6,63,581,0.00,2.67,0.00,0.000,6,0.000,0.076,2230,2106,3889
$GC,770,-1.33,-97.8,77.8,-11.9,79,774,0.00,2.70,0.00,0.000,4,0.000,0.092,2230,3522,3889
$GC,862,-1.33,-97.8,89.2,-12.8,86,866,0.00,2.78,0.00,0.000,6,0.000,0.091,2230,2093,3889
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,966,-0.31,0.0,101.0,11.7,94,1049,1.20,0.00,77.70,0.728,6,0.138,0.000,2458,1984,3484
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1051,1.33,97.8,103.8,0.0,101,1136,1.75,0.00,76.45,0.719,6,0.103,0.000,2814,1982,3084
$GC,1325,1.33,97.8,83.1,10.1,123,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1982,3084
$GC,1514,1.33,97.8,63.8,9.9,138,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1982,3083
$GC,1704,1.33,97.8,45.2,9.6,153,1708,0.00,2.65,0.00,0.000,4,0.000,0.067,2814,3421,3083
$GC,1735,1.33,97.8,41.6,11.8,155,1740,0.00,2.62,0.00,0.000,6,0.000,0.061,2814,1990,3082
$GC,1937,1.33,97.8,21.8,9.2,171,1942,0.00,2.78,0.00,0.000,4,0.000,0.108,2813,580,3083
$GC,2135,1.40,161.5,4.9,4.7,199,2191,0.00,2.60,48.28,0.675,6,0.000,0.059,2813,2018,2824
$GC,2256,1.56,310.2,3.4,-0.1,218,2331,0.25,0.00,71.47,0.654,2,0.058,0.000,2875,2018,2405
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2333,begin surface coast
$FINISH,0.6,1.011940
$STATE,2410,end surface coast,CONTROL_FINISHED_OK
$STATE,2411,begin surface
$SM_CCo,2432,111.05,0.636,0,0,1445,500.17
$SM_GC,1.39,0.00,0.00,111.05,0.000,0.000,0.636,38,2107,1445,-11.46,0.23,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2113
$TCM_TEMP,20.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,9.7,7.1
$ALTIM_BOTTOM_PING,50.1,7.0
$24V_AH,23.8,16.202
$10V_AH,10.2,4.225
$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,29.325,33.150,273.900,111.050,0.000,32.601,32.017,72.666,1.750,0.000,0.000,32.670,421.773,1251.593,485.295,415.804,228.838,33.354,755.379,0.000,402.634,0.000,6.951
$DEVICE_MAMPS,200.954,139.594,727.883,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,242
$CFSIZE,260034560,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,122557,4740.060,-12250.373,10,1.5,10,18.3