version: 66.02
glider: 22
mission: 2
dive: 51
start: 9 22 107 7 0 41
data:
$ID,22
$MISSION,2
$DIVE,51
$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,-109328.77
$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,23
$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
$GPS1,065138,4740.182,-12250.531,11,1.8,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,065935,4740.216,-12250.460,16,3.1,35,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.214,-0.117
$KALMAN_X,6678.1,203.9,39.4,-3775.3,105.0
$KALMAN_Y,2426.0,-34.3,102.9,-1525.2,114.5
$MHEAD_RNG_PITCHd_Wd,223.1,3692,-15.7,-8.333
$D_GRID,116
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.14,-146.6,0.0,0.0,0,94,0.00,0.00,-67.95,0.000,2,0.000,0.000,38,2082,2906
$GC,97,-1.14,-146.6,2.3,-3.9,11,164,13.38,2.97,-43.30,0.000,4,0.203,0.143,2273,680,3996
$GC,177,-1.14,-146.6,6.6,-10.6,24,184,0.00,2.65,0.00,0.000,6,0.000,0.074,2274,2101,3997
$GC,249,-1.14,-146.6,13.8,-10.5,35,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2101,3998
$GC,320,-1.14,-146.6,21.4,-10.9,45,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2101,3998
$GC,510,-1.14,-146.6,40.9,-10.0,60,515,0.00,2.67,0.00,0.000,4,0.000,0.087,2274,3513,3999
$GC,574,-1.14,-146.6,48.0,-10.8,64,582,0.00,2.75,0.00,0.000,6,0.000,0.087,2273,2100,4000
$GC,770,-1.14,-146.6,67.0,-9.5,80,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2100,4000
$GC,962,-1.14,-146.6,85.0,-9.5,95,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2100,4000
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1122,begin apogee
$GC,1127,-0.31,0.0,100.8,10.1,108,1233,0.95,0.00,98.72,0.730,6,0.129,0.000,2457,1989,3483
$STATE,1234,end apogee,CONTROL_FINISHED_OK
$STATE,1234,begin climb
$GC,1236,1.14,146.6,103.7,0.0,117,1357,1.55,0.00,113.20,0.715,6,0.104,0.000,2773,1986,2885
$GC,1547,1.14,146.6,75.1,11.7,142,1551,0.00,2.83,0.00,0.000,4,0.000,0.114,2773,580,2883
$GC,1605,1.14,146.6,67.6,12.5,146,1609,0.00,2.58,0.00,0.000,6,0.000,0.057,2772,2012,2883
$GC,1807,1.14,146.6,44.2,11.3,162,1812,0.00,2.92,0.00,0.000,4,0.000,0.117,2773,586,2883
$GC,1832,1.14,146.6,41.1,12.2,164,1837,0.00,2.58,0.00,0.000,6,0.000,0.059,2772,2010,2883
$GC,2028,1.14,146.6,18.5,11.1,180,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2010,2883
$GC,2100,1.14,146.6,11.1,9.7,191,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2010,2883
$GC,2172,1.18,178.0,5.1,7.1,202,2203,0.00,3.00,23.45,0.685,4,0.000,0.123,2773,582,2757
$STATE,2214,end climb,SURFACE_DEPTH_REACHED
$STATE,2214,begin surface coast
$FINISH,0.5,1.010143
$STATE,2248,end surface coast,CONTROL_FINISHED_OK
$STATE,2248,begin surface
$SM_CCo,2271,168.70,0.645,0,0,1444,500.17
$SM_GC,1.38,0.00,0.00,168.70,0.000,0.000,0.645,39,2113,1444,-11.46,0.37,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,2106
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,50.0,7.9
$24V_AH,23.8,13.047
$10V_AH,10.2,3.480
$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,28.375,28.025,235.375,168.700,0.000,65.210,77.399,174.544,0.750,0.000,0.000,36.139,388.499,1250.966,522.355,377.265,410.809,33.349,769.716,0.000,358.277,0.000,6.957
$DEVICE_MAMPS,203.255,142.662,730.184,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,214
$CFSIZE,260034560,255762432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,074209,4740.122,-12250.690,15,2.0,15,18.3