version: 66.02
glider: 22
mission: 2
dive: 56
start: 9 22 107 11 20 36
data:
$ID,22
$MISSION,2
$DIVE,56
$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,-109464.62
$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,9
$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
$GPS1,111447,4740.224,-12251.103,10,6.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.3
$GPS2,111929,4740.268,-12251.056,16,4.9,35,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.150
$KALMAN_X,8323.5,355.7,-8.2,-6266.9,223.9
$KALMAN_Y,3657.7,189.4,56.2,-2838.5,230.4
$MHEAD_RNG_PITCHd_Wd,213.5,3061,-15.7,-8.333
$D_GRID,104
$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,-146.6,0.0,0.0,0,130,0.00,0.00,-103.88,0.000,2,0.000,0.000,39,2088,2889
$GC,133,-1.14,-146.6,2.1,-2.8,17,205,13.20,0.00,-52.35,0.000,6,0.198,0.000,2273,2086,3997
$GC,270,-1.14,-146.6,11.1,-13.1,39,277,0.00,2.70,0.00,0.000,4,0.000,0.084,2273,3510,3999
$GC,376,-1.14,-146.6,23.1,-10.5,53,381,0.00,2.72,0.00,0.000,6,0.000,0.085,2272,2094,4001
$GC,571,-1.14,-146.6,42.9,-9.9,68,575,0.00,2.95,0.00,0.000,4,0.000,0.137,2272,676,4003
$GC,597,-1.14,-146.6,45.5,-9.9,69,604,0.00,2.67,0.00,0.000,6,0.000,0.077,2273,2101,4003
$GC,792,-1.14,-146.6,65.0,-10.2,85,797,0.00,2.72,0.00,0.000,4,0.000,0.092,2273,3511,4004
$GC,847,-1.14,-146.6,70.6,-10.9,89,852,0.00,2.75,0.00,0.000,6,0.000,0.090,2273,2093,4004
$GC,1041,-1.14,-146.6,91.0,-10.2,104,1046,0.00,2.75,0.00,0.000,4,0.000,0.091,2273,3518,4004
$GC,1074,-1.14,-146.6,94.3,-11.0,106,1081,0.00,2.78,0.00,0.000,6,0.000,0.091,2273,2088,4004
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1134,-0.31,0.0,100.5,11.0,111,1240,0.95,0.00,101.65,0.713,6,0.130,0.000,2456,1977,3484
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1243,1.14,146.6,103.9,0.0,120,1364,1.58,0.00,113.70,0.713,6,0.107,0.000,2774,1975,2885
$GC,1553,1.14,146.6,74.8,11.7,145,1557,0.00,2.70,0.00,0.000,4,0.000,0.071,2774,3424,2889
$GC,1592,1.14,146.6,69.9,12.7,147,1598,0.00,2.67,0.00,0.000,6,0.000,0.067,2773,1990,2890
$GC,1786,1.14,146.6,46.6,11.5,163,1791,0.00,2.85,0.00,0.000,4,0.000,0.120,2773,579,2890
$GC,1839,1.14,146.6,40.0,12.1,167,1843,0.00,2.62,0.00,0.000,6,0.000,0.061,2773,2023,2890
$GC,2035,1.14,146.6,17.6,11.2,184,2042,0.00,2.92,0.00,0.000,4,0.000,0.117,2773,580,2890
$GC,2081,1.14,146.6,12.7,10.4,191,2088,0.00,2.60,0.00,0.000,6,0.000,0.059,2774,2017,2890
$GC,2154,1.15,150.1,5.4,8.2,202,2160,0.00,0.00,2.17,0.731,6,0.000,0.000,2774,2017,2872
$STATE,2204,end climb,SURFACE_DEPTH_REACHED
$STATE,2204,begin surface coast
$FINISH,0.5,1.020639
$STATE,2232,end surface coast,CONTROL_FINISHED_OK
$STATE,2233,begin surface
$SM_CCo,2253,186.48,0.641,0,0,1445,500.17
$SM_GC,1.31,0.00,0.00,186.48,0.000,0.000,0.641,37,2109,1445,-11.47,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2094
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.2,6.6
$ALTIM_BOTTOM_PING,70.6,7.9
$24V_AH,23.8,13.547
$10V_AH,10.2,3.594
$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,28.225,38.775,217.525,186.475,0.000,32.606,35.585,120.560,1.500,0.000,0.000,36.854,390.745,1135.938,564.456,382.782,280.659,33.352,819.778,0.000,365.625,0.000,11.254
$DEVICE_MAMPS,197.886,136.526,730.951,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6445,214
$CFSIZE,260034560,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,120231,4740.189,-12251.146,36,1.0,42,18.3