version: 66.02
glider: 22
mission: 2
dive: 58
start: 9 22 107 13 0 28
data:
$ID,22
$MISSION,2
$DIVE,58
$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,-109495.16
$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,8
$R_STBD_OVSHOOT,16
$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
$GPS1,125203,4740.134,-12251.185,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.8
$GPS2,125920,4740.181,-12251.104,9,1.8,15,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,-0.114
$KALMAN_X,9043.5,371.2,104.4,-7175.5,288.8
$KALMAN_Y,4004.0,310.1,106.4,-3514.7,157.3
$MHEAD_RNG_PITCHd_Wd,223.9,2932,-15.7,-8.333
$D_GRID,119
$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,-67.68,0.000,2,0.000,0.000,39,2106,2895
$GC,96,-1.14,-146.6,2.2,-3.2,11,163,13.27,0.00,-50.80,0.000,6,0.200,0.000,2271,2105,3996
$GC,228,-1.14,-146.6,10.0,-10.8,32,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2105,3997
$GC,300,-1.14,-146.6,17.9,-10.9,43,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2105,3998
$GC,375,-1.14,-146.6,25.5,-10.0,51,380,0.00,2.70,0.00,0.000,4,0.000,0.086,2273,3514,3999
$GC,419,-1.14,-146.6,30.3,-10.4,54,427,0.00,2.75,0.00,0.000,6,0.000,0.085,2273,2097,3999
$GC,616,-1.14,-146.6,49.4,-9.5,70,620,0.00,2.95,0.00,0.000,4,0.000,0.137,2273,677,3999
$GC,640,-1.14,-146.6,52.1,-10.7,71,649,0.00,2.70,0.00,0.000,6,0.000,0.078,2273,2100,3999
$GC,837,-1.14,-146.6,71.9,-10.0,87,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2099,3999
$GC,1027,-1.14,-146.6,90.7,-9.6,102,1032,0.00,2.72,0.00,0.000,4,0.000,0.094,2273,3526,3999
$GC,1091,-1.14,-146.6,97.3,-10.2,106,1099,0.00,2.80,0.00,0.000,6,0.000,0.090,2273,2093,3999
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1122,begin apogee
$GC,1126,-0.31,0.0,100.2,9.5,109,1232,0.95,0.00,98.20,0.730,6,0.128,0.000,2457,1983,3484
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1235,1.14,146.6,102.7,0.0,118,1354,1.58,0.00,113.72,0.716,6,0.101,0.000,2775,1982,2886
$GC,1542,1.14,146.6,72.8,12.1,143,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1982,2885
$GC,1731,1.14,146.6,50.8,11.2,158,1736,0.00,2.80,0.00,0.000,4,0.000,0.115,2775,585,2885
$GC,1808,1.14,146.6,41.1,12.7,163,1816,0.00,2.60,0.00,0.000,6,0.000,0.056,2775,2015,2885
$GC,2005,1.14,146.6,18.8,10.8,179,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2015,2885
$GC,2076,1.14,146.6,11.8,9.2,190,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2014,2884
$GC,2147,1.14,146.6,5.5,9.6,201,2154,0.00,2.55,0.00,0.000,4,0.000,0.070,2775,3408,2885
$GC,2173,1.17,175.8,3.6,7.2,205,2199,0.00,2.62,21.02,0.688,2,0.000,0.068,2775,1995,2771
$STATE,2200,end climb,SURFACE_DEPTH_REACHED
$STATE,2200,begin surface coast
$FINISH,0.6,1.020644
$STATE,2211,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2232,160.48,0.642,0,0,1445,500.17
$SM_GC,1.38,0.00,0.00,160.48,0.000,0.000,0.642,36,2108,1445,-11.47,0.23,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2104
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.7,6.8
$ALTIM_BOTTOM_PING,50.8,6.8
$24V_AH,23.8,13.731
$10V_AH,10.2,3.636
$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,28.350,27.625,232.950,160.475,0.000,65.197,69.808,154.138,1.000,0.000,0.000,16.018,383.535,1205.810,525.576,356.039,393.302,33.345,775.555,0.000,359.230,0.000,6.954
$DEVICE_MAMPS,200.187,136.526,730.184,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6427,211
$CFSIZE,260034560,255586304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,134123,4740.099,-12251.321,9,3.0,28,18.3