version: 66.02
glider: 22
mission: 2
dive: 99
start: 9 23 107 23 9 42
data:
$ID,22
$MISSION,2
$DIVE,99
$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,90
$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,450
$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,-110556.88
$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,17
$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
$GPS1,225727,4739.650,-12252.486,10,1.3,10,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.7
$GPS2,230837,4739.681,-12252.392,15,1.7,31,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.073
$KALMAN_X,17407.2,224.1,-186.4,-16708.2,129.2
$KALMAN_Y,4035.6,-30.3,-3.7,-4024.9,58.4
$MHEAD_RNG_PITCHd_Wd,229.4,1086,-20.6,-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,-1.38,-88.0,0.0,0.0,0,80,0.00,0.00,-55.60,0.000,2,0.000,0.000,36,2104,2858
$GC,83,-1.38,-88.0,2.1,-2.7,9,144,13.12,2.67,-41.53,0.000,4,0.205,0.097,2221,3513,3843
$GC,163,-1.38,-88.0,6.5,-11.1,22,170,0.00,2.67,0.00,0.000,6,0.000,0.077,2221,2096,3843
$GC,235,-1.38,-88.0,14.8,-11.9,33,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2096,3844
$GC,312,-1.38,-88.0,23.2,-10.6,43,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2096,3844
$GC,502,-1.38,-88.0,44.5,-11.3,58,507,0.00,2.75,0.00,0.000,4,0.000,0.091,2221,3522,3845
$GC,561,-1.38,-88.0,51.9,-12.3,62,566,0.00,2.70,0.00,0.000,6,0.000,0.080,2221,2093,3845
$GC,763,-1.38,-88.0,76.3,-12.5,78,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2093,3845
$GC,955,-1.38,-88.0,98.7,-11.6,93,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2093,3845
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,969,-0.31,0.0,100.2,12.0,94,1042,1.25,0.00,69.32,0.719,6,0.142,0.000,2457,1976,3484
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1044,1.38,88.0,102.8,0.0,100,1124,1.80,2.83,68.78,0.711,4,0.102,0.105,2829,585,3124
$GC,1314,1.38,88.0,76.5,11.1,121,1322,0.00,2.60,0.00,0.000,6,0.000,0.056,2829,2014,3124
$GC,1510,1.38,88.0,56.0,10.8,137,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2014,3124
$GC,1700,1.38,88.0,35.8,10.3,152,1705,0.00,2.85,0.00,0.000,4,0.000,0.109,2829,582,3124
$GC,1777,1.38,88.0,27.5,10.1,157,1785,0.00,2.58,0.00,0.000,6,0.000,0.057,2829,1998,3124
$GC,1979,1.41,110.3,10.3,6.9,182,2003,0.00,2.85,16.38,0.692,4,0.000,0.109,2829,590,3033
$GC,2049,1.42,124.7,5.3,7.4,192,2067,0.00,2.58,11.23,0.697,6,0.000,0.059,2829,2012,2973
$STATE,2118,end climb,SURFACE_DEPTH_REACHED
$STATE,2119,begin surface coast
$FINISH,2.7,1.020884
$STATE,2205,end surface coast,CONTROL_FINISHED_OK
$STATE,2205,begin surface
$SM_CCo,2208,281.98,0.618,0,0,658,693.22
$SM_GC,1.40,12.73,0.00,0.00,0.064,0.000,0.000,36,2097,661,-11.42,-0.08,692.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2104
$TCM_TEMP,19.90
$XPDR_PINGS,16
$ALTIM_TOP_PING,9.9,6.7
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,17.416
$10V_AH,10.2,4.514
$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,28.900,27.425,165.700,281.975,0.000,98.614,183.528,171.839,4.750,0.000,0.000,32.009,408.748,1392.258,561.214,390.090,549.387,33.349,800.444,0.000,373.474,0.000,6.970
$DEVICE_MAMPS,204.789,108.914,718.679,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,216
$CFSIZE,260034560,254578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,235345,4739.652,-12252.572,10,1.9,10,18.3