version: 66.02
glider: 22
mission: 2
dive: 92
start: 9 23 107 17 11 29
data:
$ID,22
$MISSION,2
$DIVE,92
$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,-110383.51
$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,12
$R_STBD_OVSHOOT,15
$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
$GPS1,170107,4739.945,-12250.456,15,1.3,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.3
$GPS2,171020,4739.961,-12250.383,10,2.0,15,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.032
$KALMAN_X,15868.4,500.8,339.1,-13461.7,51.7
$KALMAN_Y,3600.3,242.2,39.1,-3382.6,-33.5
$MHEAD_RNG_PITCHd_Wd,242.5,3634,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.33,-97.8,0.0,0.0,0,86,0.00,0.00,-61.55,0.000,2,0.000,0.000,40,2109,2800
$GC,89,-1.33,-97.8,2.3,-3.4,10,156,13.05,0.00,-48.33,0.000,6,0.201,0.000,2233,2108,3882
$GC,221,-1.33,-97.8,11.0,-10.4,31,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2108,3884
$GC,292,-1.33,-97.8,19.6,-12.5,42,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2108,3885
$GC,360,-1.33,-97.8,27.2,-10.7,48,364,0.00,2.67,0.00,0.000,4,0.000,0.087,2233,3519,3885
$GC,418,-1.33,-97.8,33.7,-11.1,52,426,0.00,2.78,0.00,0.000,6,0.000,0.087,2233,2096,3886
$GC,614,-1.33,-97.8,55.1,-11.8,68,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2096,3887
$GC,806,-1.33,-97.8,78.9,-12.5,83,811,0.00,2.90,0.00,0.000,4,0.000,0.131,2233,680,3887
$GC,843,-1.33,-97.8,84.1,-12.9,85,851,0.00,2.70,0.00,0.000,6,0.000,0.078,2233,2100,3887
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,980,-0.31,0.0,100.2,11.9,96,1063,1.17,0.00,77.40,0.721,6,0.138,0.000,2456,1980,3483
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1065,1.33,97.8,102.7,0.0,103,1151,1.75,2.83,76.10,0.713,4,0.103,0.104,2813,576,3084
$GC,1195,1.33,97.8,93.6,10.9,113,1203,0.00,2.65,0.00,0.000,6,0.000,0.057,2813,2016,3084
$GC,1392,1.33,97.8,71.3,11.9,129,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2016,3084
$GC,1582,1.33,97.8,50.9,10.1,144,1587,0.00,2.85,0.00,0.000,4,0.000,0.107,2812,582,3084
$GC,1627,1.33,97.8,45.9,11.2,147,1631,0.00,2.58,0.00,0.000,6,0.000,0.057,2814,2015,3084
$GC,1829,1.33,97.8,25.0,10.1,163,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,3084
$GC,2025,1.33,97.8,8.0,9.0,188,2031,0.00,2.55,0.00,0.000,4,0.000,0.069,2813,3409,3083
$GC,2282,1.49,251.7,4.3,-0.4,227,2394,0.20,2.60,104.88,0.661,2,0.067,0.061,2858,1981,2522
$STATE,2395,end climb,SURFACE_DEPTH_REACHED
$STATE,2395,begin surface coast
$FINISH,0.6,1.020020
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2441,130.18,0.629,0,0,1444,500.17
$SM_GC,1.45,0.00,0.00,130.18,0.000,0.000,0.629,37,2103,1444,-11.46,0.08,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2101
$TCM_TEMP,20.00
$XPDR_PINGS,38
$ALTIM_TOP_PING,9.9,7.8
$ALTIM_BOTTOM_PING,50.6,7.8
$24V_AH,23.8,16.794
$10V_AH,10.2,4.365
$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,29.175,27.600,258.375,130.175,0.000,98.637,74.753,179.111,10.250,0.000,0.000,15.091,432.257,1373.161,489.161,409.171,456.479,33.351,767.308,0.000,413.502,0.000,7.972
$DEVICE_MAMPS,200.954,131.157,720.980,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6447,249
$CFSIZE,260034560,254750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,175502,4739.876,-12250.734,8,1.5,8,18.3