version: 66.02
glider: 22
mission: 2
dive: 52
start: 9 22 107 7 53 52
data:
$ID,22
$MISSION,2
$DIVE,52
$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,-109341.78
$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,13
$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
$GPS1,074209,4740.122,-12250.690,15,2.0,15,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,075245,4740.164,-12250.607,12,1.9,12,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.220,-0.103
$KALMAN_X,7039.0,230.5,-36.8,-4271.1,168.2
$KALMAN_Y,2550.0,12.9,109.7,-1799.9,103.9
$MHEAD_RNG_PITCHd_Wd,226.6,3485,-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,23,-1.14,-146.6,0.0,0.0,0,93,0.00,0.00,-67.88,0.000,2,0.000,0.000,39,2114,2915
$GC,96,-1.14,-146.6,2.3,-3.3,11,157,13.30,3.00,-40.45,0.000,4,0.202,0.143,2270,686,3997
$GC,408,-1.14,-146.6,31.3,-9.9,51,412,0.00,2.67,0.00,0.000,6,0.000,0.076,2270,2112,3999
$GC,610,-1.14,-146.6,52.3,-10.9,67,614,0.00,2.65,0.00,0.000,4,0.000,0.087,2270,3513,4001
$GC,654,-1.14,-146.6,57.4,-10.5,70,662,0.00,2.75,0.00,0.000,6,0.000,0.087,2270,2100,4001
$GC,851,-1.14,-146.6,77.5,-10.3,86,856,0.00,2.97,0.00,0.000,4,0.000,0.135,2270,679,4001
$GC,877,-1.14,-146.6,80.2,-10.2,88,881,0.00,2.70,0.00,0.000,6,0.000,0.081,2270,2114,4001
$STATE,1077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1077,begin apogee
$GC,1082,-0.31,0.0,100.1,9.7,104,1188,0.98,0.00,98.60,0.726,6,0.130,0.000,2458,1975,3484
$STATE,1189,end apogee,CONTROL_FINISHED_OK
$STATE,1189,begin climb
$GC,1191,1.14,146.6,103.1,0.0,113,1314,1.55,2.85,113.07,0.712,4,0.104,0.115,2774,583,2884
$GC,1371,1.14,146.6,88.9,12.3,127,1380,0.00,2.62,0.00,0.000,6,0.000,0.058,2774,2009,2883
$GC,1568,1.14,146.6,66.0,11.4,143,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2009,2883
$GC,1758,1.14,146.6,43.9,11.9,158,1763,0.00,2.88,0.00,0.000,4,0.000,0.115,2774,585,2883
$GC,1803,1.14,146.6,38.3,12.7,161,1808,0.00,2.58,0.00,0.000,6,0.000,0.058,2774,2010,2882
$GC,2000,1.14,146.6,15.4,11.3,179,2007,0.00,2.88,0.00,0.000,4,0.000,0.116,2774,585,2882
$GC,2046,1.14,146.6,10.7,9.6,186,2053,0.00,2.58,0.00,0.000,6,0.000,0.061,2774,2007,2882
$GC,2119,1.17,170.5,4.7,7.4,197,2144,0.00,2.65,17.52,0.683,4,0.000,0.076,2774,3413,2789
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,0.5,1.009600
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2176,begin surface
$SM_CCo,2199,170.75,0.644,0,0,1444,500.17
$SM_GC,1.25,0.00,0.00,170.75,0.000,0.000,0.644,37,2080,1444,-11.47,-0.57,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2086
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,6.8
$ALTIM_BOTTOM_PING,50.9,8.0
$24V_AH,23.8,13.147
$10V_AH,10.2,3.502
$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,28.350,38.575,229.200,170.750,0.000,97.765,108.157,228.886,0.750,0.000,0.000,12.384,379.802,1248.339,510.323,365.041,536.178,33.347,760.103,0.000,366.756,0.000,6.958
$DEVICE_MAMPS,201.721,143.429,725.582,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,206
$CFSIZE,260034560,255733760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,083429,4740.103,-12250.756,14,3.5,33,18.3