version: 66.02
glider: 22
mission: 2
dive: 88
start: 9 23 107 14 5 24
data:
$ID,22
$MISSION,2
$DIVE,88
$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,-110286.48
$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,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
$GPS1,135647,4740.081,-12250.141,10,6.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.1
$GPS2,140417,4740.089,-12250.013,13,3.6,32,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,-0.036
$KALMAN_X,14886.8,363.9,168.0,-11715.2,383.7
$KALMAN_Y,3620.9,269.7,-48.8,-3106.5,63.6
$MHEAD_RNG_PITCHd_Wd,241.5,4143,-19.5,-8.333
$D_GRID,91
$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,-97.8,0.0,0.0,0,87,0.00,0.00,-61.97,0.000,2,0.000,0.000,39,2106,2809
$GC,90,-1.33,-97.8,2.4,-3.0,10,151,13.10,0.00,-43.85,0.000,6,0.202,0.000,2233,2104,3883
$GC,216,-1.33,-97.8,12.2,-13.2,30,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2104,3884
$GC,293,-1.33,-97.8,21.6,-11.8,41,297,0.00,2.70,0.00,0.000,4,0.000,0.088,2233,3522,3885
$GC,350,-1.33,-97.8,28.2,-11.5,45,359,0.00,2.78,0.00,0.000,6,0.000,0.088,2233,2103,3886
$GC,550,-1.33,-97.8,50.5,-11.3,61,554,0.00,2.92,0.00,0.000,4,0.000,0.132,2232,673,3886
$GC,600,-1.33,-97.8,57.0,-12.0,64,608,0.00,2.72,0.00,0.000,6,0.000,0.078,2233,2104,3886
$GC,796,-1.33,-97.8,80.7,-11.9,80,801,0.00,2.72,0.00,0.000,4,0.000,0.095,2233,3530,3887
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,887,-0.31,0.0,91.6,13.2,86,967,1.15,0.00,77.20,0.718,6,0.143,0.000,2452,1992,3484
$STATE,968,end apogee,CONTROL_FINISHED_OK
$STATE,968,begin climb
$GC,970,1.33,97.8,94.6,0.0,93,1056,1.77,2.85,75.65,0.709,4,0.107,0.106,2810,578,3085
$GC,1069,1.35,122.1,90.3,6.9,101,1094,0.00,2.65,18.52,0.713,6,0.000,0.061,2810,2018,2986
$GC,1282,1.35,122.1,66.5,11.7,118,1286,0.00,2.58,0.00,0.000,4,0.000,0.071,2810,3417,2986
$GC,1308,1.35,122.1,63.4,12.1,120,1312,0.00,2.65,0.00,0.000,6,0.000,0.067,2810,1995,2986
$GC,1510,1.35,122.1,40.3,11.4,136,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1995,2986
$GC,1701,1.35,122.1,18.0,12.3,152,1707,0.00,2.80,0.00,0.000,4,0.000,0.111,2810,580,2986
$GC,1851,1.41,178.2,3.6,5.1,175,1902,0.12,2.60,42.20,0.671,6,0.067,0.061,2843,2017,2757
$GC,1967,1.54,297.9,2.6,1.5,193,1999,0.10,0.00,29.60,0.665,2,0.074,0.000,2870,2017,2583
$STATE,2000,end climb,SURFACE_DEPTH_REACHED
$STATE,2000,begin surface coast
$FINISH,0.7,1.009454
$STATE,2078,end surface coast,CONTROL_FINISHED_OK
$STATE,2078,begin surface
$SM_CCo,2099,130.70,0.634,0,0,1444,500.17
$SM_GC,1.40,0.00,0.00,130.70,0.000,0.000,0.634,39,2104,1444,-11.46,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,2110
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,6.8
$ALTIM_BOTTOM_PING,50.5,7.4
$24V_AH,23.8,16.450
$10V_AH,10.2,4.284
$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,29.175,33.150,243.175,130.700,0.000,65.178,77.654,146.024,1.000,0.000,0.000,33.370,380.253,1091.895,471.787,381.157,388.820,33.364,725.514,0.000,364.639,0.000,6.956
$DEVICE_MAMPS,202.488,131.924,717.912,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6431,210
$CFSIZE,260034560,254857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,144337,4740.076,-12250.006,14,1.6,30,18.3