version: 66.02
glider: 22
mission: 2
dive: 96
start: 9 23 107 20 36 10
data:
$ID,22
$MISSION,2
$DIVE,96
$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,-110477.8
$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,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
$GPS1,202437,4739.728,-12251.716,14,1.2,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.9
$GPS2,203502,4739.750,-12251.686,11,1.4,16,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.046
$KALMAN_X,16696.7,356.4,-81.9,-15354.2,-9.4
$KALMAN_Y,3702.0,68.3,6.2,-3671.2,-23.2
$MHEAD_RNG_PITCHd_Wd,238.6,1963,-19.5,-8.333
$D_GRID,123
$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,-97.8,0.0,0.0,0,129,0.00,0.00,-103.40,0.000,2,0.000,0.000,37,2110,2905
$GC,132,-1.33,-97.8,2.5,-3.8,17,188,13.15,2.72,-36.75,0.000,4,0.204,0.097,2233,3516,3883
$GC,194,-1.33,-97.8,6.0,-8.4,27,201,0.00,2.75,0.00,0.000,6,0.000,0.087,2232,2090,3884
$GC,266,-1.33,-97.8,14.8,-11.3,38,272,0.00,2.88,0.00,0.000,4,0.000,0.127,2232,680,3885
$GC,311,-1.33,-97.8,20.1,-11.6,45,318,0.00,2.67,0.00,0.000,6,0.000,0.076,2233,2112,3886
$GC,506,-1.33,-97.8,42.0,-11.9,61,511,0.00,2.67,0.00,0.000,4,0.000,0.093,2233,3514,3888
$GC,611,-1.33,-97.8,55.0,-12.9,69,616,0.00,2.75,0.00,0.000,6,0.000,0.091,2232,2091,3890
$GC,806,-1.33,-97.8,78.5,-11.9,84,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2091,3890
$STATE,995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,995,begin apogee
$GC,1000,-0.31,0.0,101.5,12.8,99,1081,1.17,0.00,76.97,0.710,6,0.139,0.000,2455,1982,3484
$STATE,1082,end apogee,CONTROL_FINISHED_OK
$STATE,1082,begin climb
$GC,1084,1.33,97.8,104.8,0.0,106,1170,1.77,2.72,77.30,0.707,4,0.100,0.067,2816,3411,3085
$GC,1203,1.33,97.8,97.5,11.0,116,1208,0.00,2.65,0.00,0.000,6,0.000,0.066,2815,1989,3086
$GC,1405,1.33,97.8,75.9,10.9,132,1410,0.00,2.80,0.00,0.000,4,0.000,0.113,2815,580,3088
$GC,1463,1.33,97.8,69.3,11.3,136,1471,0.00,2.62,0.00,0.000,6,0.000,0.059,2815,2015,3088
$GC,1660,1.33,97.8,48.8,10.1,152,1664,0.00,2.85,0.00,0.000,4,0.000,0.108,2815,581,3088
$GC,1738,1.33,97.8,40.1,11.5,158,1743,0.00,2.58,0.00,0.000,6,0.000,0.059,2815,2007,3088
$GC,1940,1.33,97.8,20.7,8.3,174,1945,0.00,2.58,0.00,0.000,4,0.000,0.070,2815,3415,3088
$GC,1993,1.33,97.8,15.9,9.2,181,2000,0.00,2.62,0.00,0.000,6,0.000,0.063,2815,1989,3088
$GC,2065,1.38,143.5,11.1,5.7,192,2102,0.00,0.00,34.83,0.670,6,0.000,0.000,2816,1988,2899
$GC,2168,1.45,215.6,4.9,4.2,208,2230,0.15,2.90,55.00,0.653,4,0.066,0.120,2853,580,2605
$STATE,2235,end climb,SURFACE_DEPTH_REACHED
$STATE,2235,begin surface coast
$FINISH,0.6,1.020777
$STATE,2268,end surface coast,CONTROL_FINISHED_OK
$STATE,2268,begin surface
$SM_CCo,2292,141.43,0.627,0,0,1444,500.17
$SM_GC,1.45,0.00,0.00,141.43,0.000,0.000,0.627,40,2102,1444,-11.45,0.06,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2074
$TCM_TEMP,19.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,9.8,7.1
$ALTIM_BOTTOM_PING,50.2,7.5
$24V_AH,23.8,17.150
$10V_AH,10.2,4.449
$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,29.225,43.875,244.100,141.425,0.000,97.769,233.162,93.479,6.750,0.000,0.000,16.427,397.314,1275.329,519.214,378.590,522.830,33.356,786.649,0.000,383.337,0.000,6.970
$DEVICE_MAMPS,204.022,126.555,710.242,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6435,224
$CFSIZE,260034560,254660608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,211727,4739.685,-12252.020,10,1.4,10,18.3