version: 66.02
glider: 22
mission: 2
dive: 31
start: 9 21 107 14 49 44
data:
$ID,22
$MISSION,2
$DIVE,31
$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,-108817.34
$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,16
$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
$GPS1,144445,4739.217,-12251.451,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.7
$GPS2,144837,4739.223,-12251.431,15,1.9,31,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.128
$KALMAN_X,2951.7,406.8,234.6,-1655.3,98.3
$KALMAN_Y,2644.7,167.3,-12.1,-3667.3,73.7
$MHEAD_RNG_PITCHd_Wd,220.0,822,-15.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.14,-146.6,0.0,0.0,0,93,0.00,0.00,-67.85,0.000,2,0.000,0.000,36,2104,2912
$GC,96,-1.14,-146.6,2.4,-4.1,11,163,13.40,2.70,-44.50,0.000,4,0.203,0.094,2272,3514,3996
$GC,229,-1.14,-146.6,13.7,-11.9,32,236,0.00,2.67,0.00,0.000,6,0.000,0.076,2271,2096,3997
$GC,307,-1.14,-146.6,21.3,-9.4,43,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2096,3997
$GC,499,-1.14,-146.6,40.0,-10.0,58,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2096,3999
$GC,686,-1.14,-146.6,59.1,-9.9,73,691,0.00,2.72,0.00,0.000,4,0.000,0.086,2272,3517,3999
$GC,724,-1.14,-146.6,63.4,-11.2,75,732,0.00,2.75,0.00,0.000,6,0.000,0.082,2271,2094,3999
$GC,920,-1.14,-146.6,83.2,-9.9,91,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2094,3999
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1096,begin apogee
$GC,1101,-0.31,0.0,100.9,9.7,105,1207,0.95,0.00,98.90,0.735,6,0.127,0.000,2455,1977,3483
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1209,1.14,146.6,104.0,0.0,114,1333,1.58,2.80,113.65,0.720,4,0.104,0.111,2775,586,2885
$GC,1371,1.14,146.6,93.6,11.7,127,1376,0.00,2.60,0.00,0.000,6,0.000,0.059,2775,2013,2884
$GC,1573,1.14,146.6,70.2,11.9,143,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2013,2884
$GC,1763,1.14,146.6,48.6,11.4,158,1768,0.00,2.88,0.00,0.000,4,0.000,0.114,2775,581,2884
$GC,1822,1.14,146.6,41.4,12.2,162,1826,0.00,2.58,0.00,0.000,6,0.000,0.058,2775,2007,2883
$GC,2023,1.14,146.6,18.8,10.8,178,2030,0.00,2.85,0.00,0.000,4,0.000,0.114,2775,589,2884
$GC,2049,1.14,146.6,15.9,11.4,182,2056,0.00,2.58,0.00,0.000,6,0.000,0.059,2775,2014,2883
$GC,2122,1.14,146.6,8.6,9.8,193,2128,0.00,2.60,0.00,0.000,4,0.000,0.074,2776,3419,2883
$GC,2167,1.18,176.9,5.2,7.2,200,2198,0.00,2.65,23.10,0.690,6,0.000,0.070,2776,1996,2760
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,0.6,1.014544
$STATE,2322,end surface coast,CONTROL_FINISHED_OK
$STATE,2322,begin surface
$SM_CCo,2343,169.07,0.650,0,0,1445,500.17
$SM_GC,1.39,0.00,0.00,169.07,0.000,0.000,0.650,38,2110,1445,-11.46,0.31,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2105
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,7.8
$ALTIM_BOTTOM_PING,70.6,6.9
$24V_AH,23.8,11.255
$10V_AH,10.2,3.070
$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,28.450,32.800,235.650,169.075,0.000,32.578,33.581,76.260,1.250,0.000,0.000,31.947,406.951,1228.292,515.546,393.388,232.190,33.353,772.655,0.000,376.833,0.000,11.250
$DEVICE_MAMPS,203.255,113.516,734.786,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6443,224
$CFSIZE,260034560,256249856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,153221,4739.187,-12251.512,13,1.8,13,18.3