version: 66.02
glider: 22
mission: 2
dive: 55
start: 9 22 107 10 31 59
data:
$ID,22
$MISSION,2
$DIVE,55
$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,693.21777
$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,-109427.15
$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,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
$GPS1,101247,4740.146,-12251.111,11,2.1,30,18.3
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.3
$GPS2,103053,4740.306,-12250.983,13,2.9,32,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,-0.145
$KALMAN_X,8035.8,327.2,-55.6,-5812.9,233.1
$KALMAN_Y,3451.4,129.6,48.0,-2498.5,214.7
$MHEAD_RNG_PITCHd_Wd,215.2,3174,-15.7,-8.333
$D_GRID,105
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-72.88,0.000,2,0.000,0.000,40,2108,3018
$GC,102,-1.14,-146.6,2.3,-4.0,12,169,13.15,3.03,-44.95,0.000,4,0.197,0.142,2271,680,3996
$GC,183,-1.14,-146.6,4.7,-7.9,25,189,0.00,2.67,0.00,0.000,6,0.000,0.074,2272,2111,3997
$GC,254,-1.14,-146.6,12.4,-10.2,36,261,0.00,2.67,0.00,0.000,4,0.000,0.088,2272,3520,3998
$GC,295,-1.14,-146.6,16.5,-10.7,42,301,0.00,2.72,0.00,0.000,6,0.000,0.085,2272,2095,3998
$GC,371,-1.14,-146.6,23.9,-9.2,51,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2095,3998
$GC,561,-1.14,-146.6,42.5,-10.2,66,566,0.00,2.92,0.00,0.000,4,0.000,0.135,2272,683,3999
$GC,598,-1.14,-146.6,46.6,-10.4,68,606,0.00,2.70,0.00,0.000,6,0.000,0.077,2272,2102,4000
$GC,795,-1.14,-146.6,66.8,-10.6,84,799,0.00,2.70,0.00,0.000,4,0.000,0.093,2272,3514,4000
$GC,834,-1.14,-146.6,71.1,-11.4,87,838,0.00,2.75,0.00,0.000,6,0.000,0.088,2272,2088,4000
$GC,1036,-1.14,-146.6,91.0,-9.5,103,1040,0.00,2.75,0.00,0.000,4,0.000,0.091,2272,3514,4001
$GC,1094,-1.14,-146.6,96.8,-10.0,107,1102,0.00,2.78,0.00,0.000,6,0.000,0.090,2272,2092,4001
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1142,-0.31,0.0,100.9,9.2,111,1248,0.95,0.00,98.55,0.730,6,0.129,0.000,2456,1980,3483
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1249,begin climb
$GC,1251,1.14,146.6,103.1,0.0,120,1374,1.58,2.88,113.30,0.713,4,0.101,0.114,2774,590,2885
$GC,1420,1.14,146.6,89.4,12.9,134,1424,0.00,2.60,0.00,0.000,6,0.000,0.061,2774,2013,2884
$GC,1622,1.14,146.6,66.1,11.0,150,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2014,2884
$GC,1812,1.14,146.6,43.3,13.4,165,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2014,2883
$GC,2001,1.14,146.6,20.5,11.6,180,2006,0.00,2.90,0.00,0.000,4,0.000,0.117,2774,582,2884
$GC,2079,1.14,146.6,11.2,10.9,191,2086,0.00,2.58,0.00,0.000,6,0.000,0.059,2774,2010,2883
$GC,2152,1.17,168.8,5.2,7.5,202,2177,0.00,2.65,16.52,0.687,4,0.000,0.073,2775,3404,2795
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,0.4,1.010305
$STATE,2216,end surface coast,CONTROL_FINISHED_OK
$STATE,2216,begin surface
$SM_CCo,2239,260.58,0.630,1,0,658,693.22
$SM_GC,1.29,0.00,0.00,260.58,0.000,0.000,0.630,38,2087,658,-11.46,-0.34,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2074
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.4,6.8
$ALTIM_BOTTOM_PING,70.4,7.9
$24V_AH,23.8,13.459
$10V_AH,10.2,3.573
$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,28.225,44.000,228.375,260.575,0.000,163.959,262.173,296.308,1.750,0.000,0.000,33.120,391.413,1379.177,622.562,381.248,848.917,33.354,878.899,0.000,363.624,0.000,11.251
$DEVICE_MAMPS,197.119,141.895,730.184,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,212
$CFSIZE,260034560,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220907,111447,4740.224,-12251.103,10,6.0,29,18.3