version: 66.02
glider: 22
mission: 2
dive: 94
start: 9 23 107 18 51 33
data:
$ID,22
$MISSION,2
$DIVE,94
$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,-110427.88
$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,16
$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
$GPS1,184615,4739.813,-12251.120,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.8
$GPS2,185026,4739.819,-12251.104,13,1.3,30,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.029
$KALMAN_X,16132.7,463.2,170.2,-14420.0,-74.6
$KALMAN_Y,3559.9,168.9,42.6,-3535.8,-68.2
$MHEAD_RNG_PITCHd_Wd,243.4,2697,-19.5,-8.333
$D_GRID,118
$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,-55.65,0.000,2,0.000,0.000,40,2104,2677
$GC,84,-1.33,-97.8,2.1,-2.0,9,151,13.12,0.00,-49.15,0.000,6,0.203,0.000,2234,2101,3885
$GC,216,-1.33,-97.8,12.0,-11.5,30,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2102,3886
$GC,293,-1.33,-97.8,21.8,-13.3,41,297,0.00,2.95,0.00,0.000,4,0.000,0.127,2234,676,3887
$GC,325,-1.33,-97.8,25.7,-12.1,43,330,0.00,2.67,0.00,0.000,6,0.000,0.077,2234,2101,3887
$GC,527,-1.33,-97.8,48.1,-11.3,59,531,0.00,2.72,0.00,0.000,4,0.000,0.095,2234,3520,3888
$GC,638,-1.33,-97.8,61.5,-11.9,67,646,0.00,2.78,0.00,0.000,6,0.000,0.091,2234,2090,3889
$GC,834,-1.33,-97.8,84.2,-11.5,83,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2090,3889
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,971,begin apogee
$GC,976,-0.31,0.0,100.1,11.6,94,1059,1.17,0.00,77.93,0.725,6,0.139,0.000,2457,1982,3483
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1061,1.33,97.8,102.1,0.0,101,1146,1.75,0.00,76.65,0.713,6,0.106,0.000,2812,1980,3084
$GC,1335,1.33,97.8,78.7,10.3,123,1339,0.00,2.78,0.00,0.000,4,0.000,0.107,2811,579,3084
$GC,1368,1.33,97.8,75.2,10.9,125,1373,0.00,2.62,0.00,0.000,6,0.000,0.060,2812,2021,3084
$GC,1563,1.33,97.8,56.0,9.4,140,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2021,3083
$GC,1753,1.33,97.8,37.0,10.4,155,1757,0.00,2.88,0.00,0.000,4,0.000,0.109,2811,576,3084
$GC,1790,1.33,97.8,32.6,11.2,157,1798,0.00,2.62,0.00,0.000,6,0.000,0.058,2811,2013,3083
$GC,1990,1.33,97.8,13.9,8.9,178,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2012,3083
$GC,2061,1.34,112.3,8.2,7.5,189,2074,0.00,0.00,10.62,0.700,6,0.000,0.000,2812,2012,3025
$GC,2139,1.48,238.3,5.0,1.2,201,2245,0.17,3.00,95.93,0.662,4,0.064,0.120,2855,577,2510
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,0.6,1.019958
$STATE,2310,end surface coast,CONTROL_FINISHED_OK
$STATE,2311,begin surface
$SM_CCo,2334,131.68,0.634,0,0,1445,500.17
$SM_GC,1.50,0.00,0.00,131.68,0.000,0.000,0.634,35,2098,1445,-11.48,-0.06,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2083
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.7,7.1
$ALTIM_BOTTOM_PING,50.4,7.8
$24V_AH,23.8,16.961
$10V_AH,10.2,4.405
$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,29.175,28.125,261.125,131.675,0.000,32.579,36.085,91.896,2.000,0.000,0.000,30.673,403.604,1205.504,491.804,394.537,254.397,33.347,751.452,0.000,382.109,0.000,6.954
$DEVICE_MAMPS,203.255,127.322,724.815,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,228
$CFSIZE,260034560,254709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,193344,4739.759,-12251.453,15,1.1,32,18.3