version: 66.02
glider: 22
mission: 2
dive: 91
start: 9 23 107 16 21 27
data:
$ID,22
$MISSION,2
$DIVE,91
$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,-110367.78
$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,16
$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
$GPS1,161647,4739.999,-12250.167,9,3.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.9
$GPS2,162020,4740.004,-12250.130,13,1.2,30,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.027
$KALMAN_X,15734.9,485.3,348.8,-13006.8,165.7
$KALMAN_Y,3605.1,267.2,26.8,-3320.1,-12.6
$MHEAD_RNG_PITCHd_Wd,243.9,3960,-19.5,-8.333
$D_GRID,94
$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,-55.85,0.000,2,0.000,0.000,38,2100,2679
$GC,84,-1.33,-97.8,2.1,-2.6,9,157,13.12,2.95,-51.42,0.000,4,0.202,0.138,2231,686,3884
$GC,170,-1.33,-97.8,6.8,-12.6,23,177,0.00,2.67,0.00,0.000,6,0.000,0.075,2232,2110,3885
$GC,242,-1.33,-97.8,15.5,-12.3,34,249,0.00,2.70,0.00,0.000,4,0.000,0.093,2231,3520,3886
$GC,307,-1.33,-97.8,23.9,-12.6,42,312,0.00,2.75,0.00,0.000,6,0.000,0.090,2232,2099,3886
$GC,509,-1.33,-97.8,48.1,-12.2,58,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2100,3887
$GC,698,-1.33,-97.8,72.5,-13.2,73,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2100,3888
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,861,begin apogee
$GC,866,-0.31,0.0,94.5,13.3,86,948,1.20,0.00,77.45,0.722,6,0.140,0.000,2459,1980,3483
$STATE,949,end apogee,CONTROL_FINISHED_OK
$STATE,949,begin climb
$GC,951,1.33,97.8,98.2,0.0,93,1037,1.73,2.85,75.95,0.714,4,0.102,0.107,2810,574,3084
$GC,1062,1.34,112.8,94.4,7.5,102,1080,0.00,2.62,11.45,0.728,6,0.000,0.059,2811,2012,3023
$GC,1276,1.34,112.8,73.7,10.1,119,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2012,3023
$GC,1466,1.34,112.8,55.2,9.9,134,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2012,3023
$GC,1656,1.34,112.8,35.5,10.6,149,1660,0.00,2.88,0.00,0.000,4,0.000,0.112,2810,578,3023
$GC,1701,1.34,112.8,30.5,11.1,152,1705,0.00,2.58,0.00,0.000,6,0.000,0.059,2810,2005,3022
$GC,1901,1.35,118.0,11.9,8.0,174,1913,0.00,2.65,3.45,0.747,4,0.000,0.071,2811,3409,3003
$GC,2038,1.57,324.1,5.6,-3.4,195,2157,0.28,2.65,111.47,0.660,2,0.059,0.070,2876,1985,2403
$STATE,2158,end climb,SURFACE_DEPTH_REACHED
$STATE,2158,begin surface coast
$FINISH,0.6,1.001343
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2176,begin surface
$SM_CCo,2197,117.88,0.633,0,0,1445,500.17
$SM_GC,1.41,0.00,0.00,117.88,0.000,0.000,0.633,40,2109,1445,-11.45,0.23,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,2097
$TCM_TEMP,20.00
$XPDR_PINGS,38
$ALTIM_TOP_PING,9.5,999.0
$ALTIM_BOTTOM_PING,51.0,7.4
$24V_AH,23.8,16.701
$10V_AH,10.2,4.343
$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,29.400,27.775,279.775,117.875,0.000,32.597,23.946,70.423,10.250,0.000,0.000,30.524,375.233,1117.479,482.408,371.596,215.082,33.355,734.296,0.000,356.552,0.000,6.916
$DEVICE_MAMPS,202.488,138.060,747.058,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,217
$CFSIZE,260034560,254783488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,170107,4739.945,-12250.456,15,1.3,31,18.3