version: 66.02
glider: 22
mission: 2
dive: 86
start: 9 23 107 12 30 47
data:
$ID,22
$MISSION,2
$DIVE,86
$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,-110219.57
$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,14
$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
$GPS1,122557,4740.060,-12250.373,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.7
$GPS2,122939,4740.069,-12250.308,15,1.5,15,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.031
$KALMAN_X,13874.5,279.7,8.1,-10826.4,437.4
$KALMAN_Y,3496.9,232.1,-62.2,-2968.6,61.0
$MHEAD_RNG_PITCHd_Wd,242.9,3779,-19.5,-8.333
$D_GRID,117
$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,24,-1.33,-97.8,0.0,0.0,0,81,0.00,0.00,-55.62,0.000,2,0.000,0.000,39,2108,2674
$GC,84,-1.33,-97.8,2.2,-3.1,9,157,13.12,2.95,-52.20,0.000,4,0.203,0.135,2232,681,3883
$GC,184,-1.33,-97.8,7.8,-12.4,25,191,0.00,2.67,0.00,0.000,6,0.000,0.074,2232,2111,3883
$GC,256,-1.33,-97.8,16.8,-11.9,36,262,0.00,2.70,0.00,0.000,4,0.000,0.093,2232,3520,3884
$GC,334,-1.33,-97.8,25.7,-11.3,45,339,0.00,2.78,0.00,0.000,6,0.000,0.087,2232,2097,3885
$GC,536,-1.33,-97.8,49.8,-12.4,61,546,0.00,2.90,0.00,0.000,4,0.000,0.129,2232,679,3886
$GC,591,-1.33,-97.8,57.0,-12.9,65,596,0.00,2.67,0.00,0.000,6,0.000,0.077,2232,2104,3886
$GC,793,-1.33,-97.8,81.6,-11.9,81,797,0.00,2.72,0.00,0.000,4,0.000,0.094,2232,3527,3886
$GC,851,-1.33,-97.8,88.9,-12.3,85,859,0.00,2.80,0.00,0.000,6,0.000,0.089,2232,2096,3887
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,962,-0.31,0.0,101.3,11.6,94,1045,1.17,0.00,77.03,0.727,6,0.137,0.000,2455,1987,3484
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1047,1.33,97.8,103.6,0.0,101,1132,1.75,0.00,76.20,0.715,6,0.101,0.000,2813,1986,3085
$GC,1321,1.33,97.8,80.3,10.8,123,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1986,3084
$GC,1511,1.33,97.8,60.3,10.2,138,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1986,3084
$GC,1700,1.33,97.8,40.7,10.8,153,1704,0.00,2.65,0.00,0.000,4,0.000,0.067,2813,3429,3084
$GC,1737,1.33,97.8,36.5,11.3,155,1745,0.00,2.67,0.00,0.000,6,0.000,0.061,2813,1988,3084
$GC,1936,1.33,97.8,17.0,10.3,173,1943,0.00,2.75,0.00,0.000,4,0.000,0.107,2812,585,3084
$GC,2028,1.36,131.3,8.7,6.4,187,2060,0.00,2.58,25.42,0.685,6,0.000,0.058,2813,2020,2947
$GC,2125,1.42,181.9,3.5,5.5,202,2170,0.12,3.03,38.15,0.668,4,0.072,0.114,2845,576,2741
$STATE,2174,end climb,SURFACE_DEPTH_REACHED
$STATE,2174,begin surface coast
$FINISH,1.6,1.020311
$STATE,2247,end surface coast,CONTROL_FINISHED_OK
$STATE,2248,begin surface
$SM_CCo,2271,157.75,0.634,0,0,1445,500.17
$SM_GC,1.35,0.00,0.00,157.75,0.000,0.000,0.634,38,2110,1445,-11.46,0.28,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2104
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.6,7.1
$ALTIM_BOTTOM_PING,71.1,7.4
$24V_AH,23.8,16.282
$10V_AH,10.2,4.243
$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,29.500,38.900,216.800,157.750,0.000,32.578,33.395,80.356,2.500,0.000,0.000,15.702,404.654,1175.808,495.349,368.293,240.440,33.350,749.022,0.000,369.411,0.000,12.198
$DEVICE_MAMPS,203.255,134.992,727.116,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,221
$CFSIZE,260034560,254902272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,131223,4740.064,-12250.251,14,2.2,33,18.3