version: 66.02
glider: 22
mission: 2
dive: 4
start: 9 20 107 18 44 14
data:
$ID,22
$MISSION,2
$DIVE,4
$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,30
$T_MISSION,65
$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,450
$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,-108169.95
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,20
$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
$GPS1,183908,4739.607,-12252.659,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.8
$GPS2,184309,4739.631,-12252.646,12,1.7,12,18.3
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.230
$KALMAN_X,-61.0,-38.5,-34.3,558.0,-17.2
$KALMAN_Y,319.8,123.3,105.7,-665.6,84.3
$MHEAD_RNG_PITCHd_Wd,131.1,1419,-20.1,-11.111
$D_GRID,123
$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,21,begin dive
$GC,23,-1.42,-146.6,0.0,0.0,0,87,0.00,0.00,-61.58,0.000,2,0.000,0.000,36,2065,2937
$GC,89,-1.42,-146.6,2.2,-3.9,10,151,12.77,2.72,-42.60,0.000,4,0.199,0.093,2214,3514,3995
$GC,262,-1.42,-146.6,21.1,-15.0,36,269,0.00,2.60,0.00,0.000,6,0.000,0.068,2214,2118,3997
$GC,457,-1.42,-146.6,48.2,-14.2,52,462,0.00,2.65,0.00,0.000,4,0.000,0.087,2214,3517,3998
$GC,475,-1.42,-146.6,51.0,-15.1,53,483,0.00,2.67,0.00,0.000,6,0.000,0.073,2214,2092,3999
$GC,798,-1.42,-146.6,96.4,-13.8,79,802,0.00,2.70,0.00,0.000,4,0.000,0.087,2214,3513,4000
$STATE,822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,822,begin apogee
$GC,829,-0.31,0.0,100.2,14.9,81,933,1.25,0.00,97.15,0.751,6,0.133,0.000,2456,2086,3483
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,936,1.42,146.6,103.9,0.0,90,1059,1.83,2.80,111.15,0.736,4,0.097,0.103,2835,674,2886
$GC,1103,1.42,146.6,91.3,14.5,103,1111,0.00,2.62,0.00,0.000,6,0.000,0.061,2835,2104,2885
$GC,1426,1.42,146.6,45.6,14.0,129,1430,0.00,2.78,0.00,0.000,4,0.000,0.100,2834,681,2885
$GC,1470,1.42,146.6,39.1,14.9,132,1478,0.00,2.60,0.00,0.000,6,0.000,0.060,2835,2107,2885
$GC,1669,1.42,146.6,11.3,13.7,152,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2107,2885
$GC,1740,1.42,146.6,3.5,11.1,163,1747,0.00,2.58,0.00,0.000,4,0.000,0.074,2835,3515,2885
$STATE,1764,end climb,SURFACE_DEPTH_REACHED
$STATE,1764,begin surface coast
$FINISH,0.9,1.020745
$STATE,1798,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1821,160.52,0.666,0,0,1648,450.13
$SM_GC,1.19,0.00,0.00,160.52,0.000,0.000,0.666,39,2076,1648,-11.46,-0.68,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2094
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,50.2,8.2
$24V_AH,23.9,8.839
$10V_AH,10.2,2.540
$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,28.850,32.000,208.300,160.525,0.000,0.000,0.000,0.000,0.750,0.000,0.000,12.719,316.007,910.601,481.747,297.071,57.941,32.327,691.604,0.000,299.268,0.000,6.960
$DEVICE_MAMPS,198.653,102.778,750.893,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,111.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3302,172
$CFSIZE,260034560,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,191822,4739.459,-12252.503,13,2.1,32,18.3