version: 66.02
glider: 22
mission: 2
dive: 95
start: 9 23 107 19 38 47
data:
$ID,22
$MISSION,2
$DIVE,95
$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,-110460.75
$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,8
$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
$GPS1,193344,4739.759,-12251.453,15,1.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,193740,4739.764,-12251.438,13,1.7,32,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.031
$KALMAN_X,16357.9,416.0,43.2,-14890.2,-55.5
$KALMAN_Y,3589.5,119.1,26.8,-3603.4,-58.4
$MHEAD_RNG_PITCHd_Wd,242.8,2268,-19.5,-8.333
$D_GRID,120
$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,-61.75,0.000,2,0.000,0.000,36,2099,2813
$GC,90,-1.33,-97.8,2.4,-3.9,10,152,13.12,2.70,-42.17,0.000,4,0.203,0.097,2231,3515,3883
$GC,159,-1.33,-97.8,5.3,-7.1,21,165,0.00,2.72,0.00,0.000,6,0.000,0.080,2231,2086,3884
$GC,230,-1.33,-97.8,13.4,-12.2,32,237,0.00,2.88,0.00,0.000,4,0.000,0.129,2230,682,3884
$GC,295,-1.33,-97.8,21.6,-12.3,42,300,0.00,2.67,0.00,0.000,6,0.000,0.077,2231,2105,3884
$GC,497,-1.33,-97.8,45.1,-11.7,58,502,0.00,2.70,0.00,0.000,4,0.000,0.094,2231,3517,3886
$GC,621,-1.33,-97.8,61.5,-13.0,67,629,0.00,2.80,0.00,0.000,6,0.000,0.092,2231,2094,3887
$GC,818,-1.33,-97.8,86.1,-12.9,83,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2093,3887
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,935,-0.31,0.0,100.5,12.9,92,1017,1.20,0.00,77.35,0.723,6,0.142,0.000,2456,1986,3483
$STATE,1018,end apogee,CONTROL_FINISHED_OK
$STATE,1018,begin climb
$GC,1020,1.33,97.8,104.0,0.0,99,1102,1.80,0.00,76.38,0.711,6,0.106,0.000,2817,1985,3084
$GC,1290,1.33,97.8,82.0,10.7,121,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1985,3084
$GC,1479,1.33,97.8,63.3,9.5,136,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1985,3084
$GC,1669,1.33,97.8,45.2,10.1,151,1673,0.00,2.78,0.00,0.000,4,0.000,0.109,2817,583,3084
$GC,1753,1.33,97.8,36.2,10.8,157,1758,0.00,2.58,0.00,0.000,6,0.000,0.057,2817,2016,3083
$GC,1950,1.33,97.8,16.9,9.7,174,1957,0.00,2.55,0.00,0.000,4,0.000,0.069,2817,3417,3083
$GC,1962,1.33,97.8,15.8,9.7,176,1969,0.00,2.62,0.00,0.000,6,0.000,0.063,2817,1987,3083
$GC,2036,1.33,101.5,9.9,8.1,187,2042,0.00,0.00,2.30,0.765,6,0.000,0.000,2817,1987,3070
$GC,2108,1.38,149.2,5.4,5.6,198,2151,0.00,2.88,36.40,0.677,4,0.000,0.116,2817,580,2873
$STATE,2195,end climb,SURFACE_DEPTH_REACHED
$STATE,2195,begin surface coast
$FINISH,3.0,1.020474
$STATE,2290,end surface coast,CONTROL_FINISHED_OK
$STATE,2290,begin surface
$SM_CCo,2292,276.75,0.620,1,0,659,693.22
$SM_GC,1.40,12.70,0.00,0.00,0.065,0.000,0.000,37,2106,661,-11.43,0.17,692.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,29
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,50.1,7.5
$24V_AH,23.8,17.057
$10V_AH,10.2,4.426
$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,28.825,33.000,192.425,276.750,0.000,32.599,36.280,76.495,8.000,0.000,0.000,32.243,415.902,1322.379,595.447,385.279,237.472,33.350,837.192,0.000,371.890,0.000,6.918
$DEVICE_MAMPS,203.255,128.856,764.699,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,226
$CFSIZE,260034560,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230907,202437,4739.728,-12251.716,14,1.2,30,18.3