version: 66.02
glider: 22
mission: 2
dive: 5
start: 9 20 107 19 27 51
data:
$ID,22
$MISSION,2
$DIVE,5
$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,-108195.68
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,19
$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
$GPS1,191822,4739.459,-12252.503,13,2.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.7
$GPS2,192644,4739.512,-12252.454,14,1.2,25,18.3
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.261,0.056
$KALMAN_X,-67.6,-41.3,-33.0,804.0,-6.8
$KALMAN_Y,456.6,160.1,112.6,-1064.9,95.5
$MHEAD_RNG_PITCHd_Wd,59.5,4680,-20.1,-11.111
$D_GRID,124
$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,23,-1.42,-146.6,0.0,0.0,0,86,0.00,0.00,-61.62,0.000,2,0.000,0.000,39,2076,2947
$GC,89,-1.42,-146.6,2.3,-4.5,10,150,12.77,2.83,-39.78,0.000,4,0.199,0.129,2213,675,3995
$GC,175,-1.42,-146.6,10.0,-15.8,24,182,0.00,2.62,0.00,0.000,6,0.000,0.071,2214,2106,3996
$GC,247,-1.42,-146.6,20.0,-13.2,35,252,0.00,2.83,0.00,0.000,4,0.000,0.113,2213,692,3997
$GC,504,-1.42,-146.6,54.4,-13.0,54,511,0.00,2.65,0.00,0.000,6,0.000,0.077,2214,2102,4000
$GC,826,-1.42,-146.6,99.8,-14.3,80,831,0.00,2.30,0.00,0.000,3,0.000,0.111,2213,938,4000
$STATE,831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,831,begin apogee
$GC,838,-0.31,0.0,100.7,14.3,80,941,1.23,0.00,97.12,0.746,6,0.130,0.000,2454,2215,3484
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,944,1.42,146.6,104.7,0.0,89,1067,1.80,2.58,111.47,0.734,4,0.093,0.077,2832,3573,2887
$GC,1097,1.42,146.6,92.7,14.7,101,1106,0.00,2.53,0.00,0.000,6,0.000,0.056,2832,2202,2887
$GC,1420,1.42,146.6,46.6,14.3,127,1424,0.00,2.72,0.00,0.000,4,0.000,0.100,2832,786,2886
$GC,1545,1.42,146.6,28.7,13.9,136,1552,0.00,2.58,0.00,0.000,6,0.000,0.060,2832,2208,2887
$GC,1747,1.49,209.2,4.5,7.9,162,1802,0.00,2.58,47.15,0.688,4,0.000,0.076,2832,3561,2630
$STATE,1806,end climb,SURFACE_DEPTH_REACHED
$STATE,1807,begin surface coast
$FINISH,0.4,1.020485
$STATE,1834,end surface coast,CONTROL_FINISHED_OK
$STATE,1834,begin surface
$SM_CCo,1857,122.88,0.661,0,0,1648,450.13
$SM_GC,1.32,0.00,0.00,122.88,0.000,0.000,0.661,38,2083,1648,-11.46,-0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2067
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,9.0
$ALTIM_BOTTOM_PING,50.2,7.1
$24V_AH,23.9,8.932
$10V_AH,10.2,2.561
$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,28.550,31.350,255.750,122.875,0.000,65.204,139.883,148.073,0.750,0.000,0.000,25.103,318.486,940.567,472.001,346.614,438.473,33.329,705.513,0.000,336.312,0.000,6.957
$DEVICE_MAMPS,198.653,128.856,745.524,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,176
$CFSIZE,260034560,256860160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,200201,4739.606,-12252.236,37,1.9,37,18.3