version: 66.02
glider: 22
mission: 2
dive: 89
start: 9 23 107 14 48 28
data:
$ID,22
$MISSION,2
$DIVE,89
$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,-110304.55
$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,12
$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
$GPS1,144337,4740.076,-12250.006,14,1.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.1
$GPS2,144720,4740.077,-12249.956,12,1.8,17,18.3
$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,15261.7,407.1,245.3,-12138.2,359.8
$KALMAN_Y,3644.8,277.8,-23.3,-3185.8,47.4
$MHEAD_RNG_PITCHd_Wd,242.8,4204,-19.5,-8.333
$D_GRID,90
$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,-97.8,0.0,0.0,0,87,0.00,0.00,-61.58,0.000,2,0.000,0.000,39,2104,2799
$GC,90,-1.33,-97.8,2.3,-3.8,10,152,13.12,3.03,-42.88,0.000,4,0.203,0.140,2233,679,3884
$GC,171,-1.33,-97.8,7.4,-11.5,23,178,0.00,2.70,0.00,0.000,6,0.000,0.077,2233,2113,3884
$GC,243,-1.33,-97.8,16.6,-12.6,34,249,0.00,2.70,0.00,0.000,4,0.000,0.094,2234,3519,3885
$GC,287,-1.33,-97.8,22.1,-11.9,40,295,0.00,2.80,0.00,0.000,6,0.000,0.089,2233,2093,3886
$GC,483,-1.33,-97.8,43.2,-10.7,56,488,0.00,2.95,0.00,0.000,4,0.000,0.133,2233,677,3886
$GC,541,-1.33,-97.8,49.9,-10.9,60,555,0.00,2.72,0.00,0.000,6,0.000,0.079,2233,2107,3886
$GC,737,-1.33,-97.8,72.2,-11.6,76,741,0.00,2.70,0.00,0.000,4,0.000,0.094,2233,3516,3887
$GC,816,-1.33,-97.8,81.5,-12.3,82,820,0.00,2.78,0.00,0.000,6,0.000,0.092,2233,2088,3887
$STATE,890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,890,begin apogee
$GC,895,-0.31,0.0,90.3,11.6,88,977,1.17,0.00,77.05,0.719,6,0.137,0.000,2457,1982,3484
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,980,1.33,97.8,92.8,0.0,95,1065,1.75,0.00,75.97,0.709,6,0.100,0.000,2815,1981,3085
$GC,1253,1.33,97.8,69.6,10.6,117,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1980,3084
$GC,1443,1.33,97.8,50.3,10.0,132,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1981,3085
$GC,1632,1.33,97.8,31.3,10.0,147,1637,0.00,2.78,0.00,0.000,4,0.000,0.110,2815,579,3084
$GC,1783,1.33,97.8,15.7,8.9,161,1790,0.00,2.58,0.00,0.000,6,0.000,0.056,2815,2017,3082
$GC,1855,1.34,109.8,10.3,7.6,172,1869,0.00,2.62,8.68,0.709,4,0.000,0.071,2815,3403,3036
$GC,2120,1.50,253.0,5.5,0.2,212,2238,0.17,2.58,108.78,0.662,6,0.069,0.061,2856,1990,2451
$STATE,2242,end climb,SURFACE_DEPTH_REACHED
$STATE,2242,begin surface coast
$FINISH,0.6,1.004049
$STATE,2284,end surface coast,CONTROL_FINISHED_OK
$STATE,2284,begin surface
$SM_CCo,2305,123.72,0.633,0,0,1443,500.17
$SM_GC,1.46,0.00,0.00,123.72,0.000,0.000,0.633,37,2104,1443,-11.47,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2087
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,8.0
$ALTIM_BOTTOM_PING,50.5,7.5
$24V_AH,23.8,16.533
$10V_AH,10.2,4.304
$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,29.225,33.350,270.475,123.725,0.000,32.586,35.870,79.181,1.000,0.000,0.000,17.431,413.607,1138.189,490.779,403.746,239.751,33.357,767.856,0.000,402.247,0.000,6.993
$DEVICE_MAMPS,203.255,140.361,719.446,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,238
$CFSIZE,260034560,254828544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,152959,4740.037,-12250.029,10,2.3,29,18.3