version: 66.02
glider: 22
mission: 2
dive: 36
start: 9 21 107 18 52 44
data:
$ID,22
$MISSION,2
$DIVE,36
$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,-108973.53
$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,17
$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
$GPS1,184723,4739.306,-12250.978,10,2.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.5
$GPS2,185137,4739.347,-12250.931,36,1.0,40,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.180
$KALMAN_X,3507.5,378.1,-119.7,-1203.7,-54.1
$KALMAN_Y,2323.6,139.7,-31.2,-3068.7,-131.4
$MHEAD_RNG_PITCHd_Wd,24.0,3218,-15.7,-8.333
$D_GRID,106
$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,-67.82,0.000,2,0.000,0.000,36,2103,2914
$GC,96,-1.14,-146.6,2.4,-3.9,11,157,13.43,2.67,-40.33,0.000,4,0.204,0.094,2272,3514,3996
$GC,164,-1.14,-146.6,6.2,-8.9,22,170,0.00,2.65,0.00,0.000,6,0.000,0.071,2271,2102,3997
$GC,235,-1.14,-146.6,14.4,-10.5,33,242,0.00,2.72,0.00,0.000,4,0.000,0.085,2271,3523,3997
$GC,491,-1.14,-146.6,43.6,-11.3,56,499,0.00,2.75,0.00,0.000,6,0.000,0.082,2271,2100,4000
$GC,687,-1.14,-146.6,62.2,-9.3,72,692,0.00,2.72,0.00,0.000,4,0.000,0.087,2271,3525,3999
$GC,806,-1.14,-146.6,73.6,-9.3,81,811,0.00,2.72,0.00,0.000,6,0.000,0.083,2271,2094,4000
$GC,1008,-1.14,-146.6,93.5,-10.0,97,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2094,4000
$STATE,1084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1084,begin apogee
$GC,1089,-0.31,0.0,100.7,9.5,103,1193,0.98,0.00,98.82,0.732,6,0.131,0.000,2458,1978,3483
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,1.14,146.6,103.2,0.0,112,1319,1.55,2.85,113.43,0.719,4,0.104,0.114,2772,581,2884
$GC,1371,1.14,146.6,90.5,12.4,126,1376,0.00,2.60,0.00,0.000,6,0.000,0.059,2773,2012,2883
$GC,1573,1.14,146.6,65.0,13.0,142,1577,0.00,2.88,0.00,0.000,4,0.000,0.114,2772,591,2883
$GC,1604,1.14,146.6,60.7,13.0,144,1613,0.00,2.60,0.00,0.000,6,0.000,0.059,2772,2006,2884
$GC,1801,1.14,146.6,38.2,10.9,160,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2006,2883
$GC,1991,1.14,146.6,17.0,10.9,177,1998,0.00,2.85,0.00,0.000,4,0.000,0.114,2772,589,2884
$GC,2043,1.14,146.6,11.1,11.4,185,2051,0.00,2.58,0.00,0.000,6,0.000,0.058,2772,2014,2882
$GC,2117,1.22,219.4,5.6,5.6,196,2179,0.10,3.03,55.28,0.676,4,0.074,0.119,2800,585,2589
$GC,2198,1.35,339.7,2.9,3.8,209,2231,0.12,2.62,26.98,0.672,2,0.070,0.064,2829,2008,2443
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2232,begin surface coast
$FINISH,0.5,1.004609
$STATE,2296,end surface coast,CONTROL_FINISHED_OK
$STATE,2296,begin surface
$SM_CCo,2316,121.30,0.644,0,0,1444,500.17
$SM_GC,1.23,0.00,0.00,121.30,0.000,0.000,0.644,36,2110,1444,-11.47,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2115
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,7.9
$ALTIM_BOTTOM_PING,50.6,7.1
$24V_AH,23.8,11.699
$10V_AH,10.2,3.171
$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,29.050,38.625,294.500,121.300,0.000,32.596,25.649,99.427,1.250,0.000,0.000,40.769,396.879,1138.829,512.548,429.014,247.591,33.360,790.180,0.000,404.258,0.000,6.954
$DEVICE_MAMPS,204.022,118.885,731.718,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6424,224
$CFSIZE,260034560,256131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,193409,4739.439,-12250.599,14,1.5,14,18.3