version: 66.02
glider: 22
mission: 2
dive: 26
start: 9 21 107 10 43 41
data:
$ID,22
$MISSION,2
$DIVE,26
$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,150
$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,-108691.52
$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,14
$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
$GPS1,103826,4739.530,-12250.814,34,2.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.6
$GPS2,104233,4739.546,-12250.776,17,1.4,17,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.096
$KALMAN_X,1600.4,157.7,105.4,889.6,313.7
$KALMAN_Y,1849.0,84.9,121.9,-2327.7,83.2
$MHEAD_RNG_PITCHd_Wd,228.4,1831,-15.7,-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,24,-1.14,-146.6,0.0,0.0,0,87,0.00,0.00,-61.67,0.000,2,0.000,0.000,38,2108,2777
$GC,90,-1.14,-146.6,2.0,-2.8,10,164,13.38,3.00,-49.95,0.000,4,0.202,0.142,2274,693,3997
$GC,216,-1.14,-146.6,11.6,-11.3,30,223,0.00,2.65,0.00,0.000,6,0.000,0.077,2274,2104,3998
$GC,288,-1.14,-146.6,18.9,-9.9,41,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2104,3999
$GC,362,-1.14,-146.6,26.1,-9.5,48,367,0.00,2.67,0.00,0.000,4,0.000,0.087,2275,3516,3999
$GC,388,-1.14,-146.6,28.8,-11.0,50,393,0.00,2.70,0.00,0.000,6,0.000,0.080,2274,2096,3999
$GC,590,-1.14,-146.6,49.0,-10.1,66,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2096,4000
$GC,779,-1.14,-146.6,67.6,-9.5,81,784,0.00,2.72,0.00,0.000,4,0.000,0.085,2275,3520,4000
$GC,805,-1.14,-146.6,70.3,-10.4,83,810,0.00,2.70,0.00,0.000,6,0.000,0.082,2274,2098,4000
$GC,1007,-1.14,-146.6,90.6,-9.9,99,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2098,3999
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1111,-0.31,0.0,100.7,9.9,107,1218,0.95,0.00,98.55,0.739,6,0.125,0.000,2459,1979,3484
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1220,1.14,146.6,103.9,0.0,116,1344,1.52,2.83,113.55,0.724,4,0.095,0.111,2775,588,2885
$GC,1369,1.14,146.6,95.1,11.0,128,1374,0.00,2.60,0.00,0.000,6,0.000,0.059,2775,2012,2884
$GC,1571,1.14,146.6,72.0,11.6,144,1576,0.00,2.90,0.00,0.000,4,0.000,0.112,2775,583,2884
$GC,1602,1.14,146.6,68.1,11.7,146,1610,0.00,2.60,0.00,0.000,6,0.000,0.059,2775,1998,2884
$GC,1799,1.14,146.6,44.8,12.4,162,1803,0.00,2.85,0.00,0.000,4,0.000,0.111,2775,579,2884
$GC,1830,1.14,146.6,40.8,12.6,164,1838,0.00,2.60,0.00,0.000,6,0.000,0.058,2775,2001,2884
$GC,2027,1.14,146.6,18.1,11.9,181,2034,0.00,2.60,0.00,0.000,4,0.000,0.071,2776,3418,2884
$GC,2046,1.14,146.6,16.0,11.4,184,2053,0.00,2.62,0.00,0.000,6,0.000,0.065,2775,1995,2884
$GC,2119,1.14,146.6,8.6,9.8,195,2125,0.00,2.83,0.00,0.000,4,0.000,0.117,2775,581,2884
$STATE,2209,end climb,SURFACE_DEPTH_REACHED
$STATE,2209,begin surface coast
$FINISH,1.2,1.020653
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2278,186.95,0.655,0,0,1445,500.17
$SM_GC,1.42,0.00,0.00,186.95,0.000,0.000,0.655,38,2109,1445,-11.46,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,10.804
$10V_AH,10.2,2.967
$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,28.625,43.875,212.100,186.950,0.000,32.661,52.387,87.143,0.750,0.000,0.000,17.550,401.630,1187.843,526.752,367.431,263.413,33.354,782.533,0.000,366.051,0.000,6.956
$DEVICE_MAMPS,202.488,141.895,739.388,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,216
$CFSIZE,260034560,256372736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,112547,4739.495,-12250.896,8,2.6,27,18.3