version: 66.02
glider: 22
mission: 2
dive: 54
start: 9 22 107 9 31 30
data:
$ID,22
$MISSION,2
$DIVE,54
$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,-109393.4
$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,22
$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
$GPS1,092151,4740.109,-12250.950,14,1.9,14,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.2
$GPS2,093021,4740.187,-12250.891,13,1.5,13,18.3
$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,7710.1,290.6,-81.9,-5307.4,263.2
$KALMAN_Y,2994.5,93.3,77.9,-2253.3,155.5
$MHEAD_RNG_PITCHd_Wd,223.9,3177,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.14,-146.6,0.0,0.0,0,92,0.00,0.00,-67.80,0.000,2,0.000,0.000,36,2081,2912
$GC,95,-1.14,-146.6,2.3,-3.5,11,168,13.27,2.95,-49.08,0.000,4,0.200,0.137,2270,678,3996
$GC,187,-1.14,-146.6,6.2,-10.4,26,194,0.00,2.65,0.00,0.000,6,0.000,0.073,2270,2099,3997
$GC,259,-1.14,-146.6,14.0,-10.6,37,266,0.00,2.67,0.00,0.000,4,0.000,0.085,2270,3514,3998
$GC,311,-1.14,-146.6,19.7,-10.6,45,318,0.00,2.72,0.00,0.000,6,0.000,0.084,2270,2093,3998
$GC,381,-1.14,-146.6,26.3,-9.6,51,385,0.00,2.92,0.00,0.000,4,0.000,0.132,2270,680,3998
$GC,426,-1.14,-146.6,30.8,-9.7,54,431,0.00,2.67,0.00,0.000,6,0.000,0.079,2270,2102,3998
$GC,631,-1.14,-146.6,50.7,-9.8,70,635,0.00,2.70,0.00,0.000,4,0.000,0.091,2270,3523,4000
$GC,689,-1.14,-146.6,57.1,-11.1,74,693,0.00,2.75,0.00,0.000,6,0.000,0.087,2270,2095,4000
$GC,891,-1.14,-146.6,77.4,-10.1,90,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2095,4000
$GC,1081,-1.14,-146.6,96.3,-9.8,105,1086,0.00,2.75,0.00,0.000,4,0.000,0.090,2270,3523,4000
$GC,1113,-1.14,-146.6,99.9,-11.1,107,1117,0.00,2.78,0.00,0.000,6,0.000,0.091,2270,2090,4000
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1129,-0.31,0.0,101.4,11.0,108,1235,0.98,0.00,98.82,0.731,6,0.133,0.000,2457,1981,3483
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1238,1.14,146.6,105.1,0.0,117,1361,1.60,2.75,113.62,0.716,4,0.105,0.071,2777,3414,2885
$GC,1399,1.14,146.6,94.4,12.6,130,1407,0.00,2.70,0.00,0.000,6,0.000,0.068,2776,1995,2885
$GC,1596,1.14,146.6,70.3,12.2,146,1600,0.00,2.85,0.00,0.000,4,0.000,0.119,2777,583,2884
$GC,1627,1.14,146.6,66.2,13.3,148,1635,0.00,2.62,0.00,0.000,6,0.000,0.060,2777,2011,2883
$GC,1823,1.14,146.6,41.5,11.8,164,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2012,2883
$GC,2014,1.14,146.6,19.9,10.6,179,2020,0.00,2.90,0.00,0.000,4,0.000,0.117,2777,579,2883
$GC,2152,1.16,164.0,5.2,7.7,200,2171,0.00,2.60,12.85,0.701,6,0.000,0.060,2777,2017,2814
$STATE,2195,end climb,SURFACE_DEPTH_REACHED
$STATE,2195,begin surface coast
$FINISH,0.6,1.003151
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2224,begin surface
$SM_CCo,2245,168.15,0.644,0,0,1445,500.17
$SM_GC,1.40,0.00,0.00,168.15,0.000,0.000,0.644,40,2107,1445,-11.45,0.20,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2098
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,7.1
$ALTIM_BOTTOM_PING,50.7,7.1
$24V_AH,23.8,13.330
$10V_AH,10.2,3.544
$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,28.375,44.350,225.300,168.150,0.000,65.209,76.805,204.262,1.000,0.000,0.000,13.264,393.307,1211.455,525.975,357.130,471.311,33.343,778.341,0.000,362.423,0.000,8.559
$DEVICE_MAMPS,200.187,137.293,730.951,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6433,211
$CFSIZE,260034560,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,101247,4740.146,-12251.111,11,2.1,30,18.3