version: 66.02
glider: 22
mission: 2
dive: 10
start: 9 20 107 22 55 4
data:
$ID,22
$MISSION,2
$DIVE,10
$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,60
$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,125
$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,-108301.23
$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,19
$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
$GPS1,225033,4740.016,-12250.637,11,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.9
$GPS2,225357,4740.023,-12250.630,13,1.1,13,18.3
$SPEED_LIMITS,0.192,0.245
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.218,0.111
$KALMAN_X,-52.2,-53.3,-5.1,3048.2,46.4
$KALMAN_Y,632.9,203.8,31.6,-256.1,-8.7
$MHEAD_RNG_PITCHd_Wd,44.8,2216,-22.1,-11.111
$D_GRID,120
$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,22,begin dive
$GC,24,-1.51,-122.2,0.0,0.0,0,87,0.00,0.00,-61.35,0.000,2,0.000,0.000,39,2079,2756
$GC,90,-1.51,-122.2,2.1,-3.2,10,157,12.73,0.00,-51.33,0.000,6,0.199,0.000,2193,2079,3985
$GC,222,-1.51,-122.2,16.1,-16.6,31,229,0.00,2.67,0.00,0.000,4,0.000,0.078,2193,3513,3987
$GC,287,-1.51,-122.2,26.9,-16.2,38,292,0.00,2.60,0.00,0.000,6,0.000,0.066,2193,2099,3988
$GC,489,-1.51,-122.2,58.0,-15.9,54,493,0.00,2.67,0.00,0.000,4,0.000,0.081,2193,3514,3988
$GC,528,-1.51,-122.2,64.6,-17.4,57,533,0.00,2.62,0.00,0.000,6,0.000,0.067,2193,2093,3988
$STATE,766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,771,-0.31,0.0,101.8,14.9,76,871,1.38,0.00,95.35,0.739,6,0.137,0.000,2456,1981,3483
$STATE,871,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,873,1.51,122.2,104.5,0.0,84,975,1.92,2.75,94.07,0.726,4,0.098,0.099,2853,589,2984
$GC,1007,1.51,122.2,95.3,12.4,94,1015,0.00,2.58,0.00,0.000,6,0.000,0.056,2853,2002,2984
$GC,1330,1.51,122.2,51.3,13.2,120,1334,0.00,2.75,0.00,0.000,4,0.000,0.099,2851,589,2984
$GC,1441,1.51,122.2,35.7,14.2,128,1449,0.00,2.55,0.00,0.000,6,0.000,0.054,2853,2002,2983
$GC,1640,1.51,122.2,10.9,12.0,149,1647,0.00,2.58,0.00,0.000,4,0.000,0.070,2853,3417,2983
$GC,1706,1.62,223.8,4.7,4.9,159,1793,0.12,2.58,76.15,0.679,6,0.077,0.057,2883,1985,2570
$STATE,1830,end climb,SURFACE_DEPTH_REACHED
$STATE,1830,begin surface coast
$FINISH,0.4,1.011561
$STATE,1864,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1886,139.05,0.652,0,0,1444,500.17
$SM_GC,1.31,0.00,0.00,139.05,0.000,0.000,0.652,37,2104,1444,-11.46,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2103
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.4,7.9
$ALTIM_BOTTOM_PING,52.1,7.9
$24V_AH,23.9,9.376
$10V_AH,10.2,2.654
$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,29.150,26.750,265.575,139.050,0.000,32.598,31.630,71.559,0.750,0.000,0.000,13.092,326.956,902.868,497.482,321.704,215.272,33.332,731.001,0.000,326.758,0.000,7.847
$DEVICE_MAMPS,199.420,98.943,739.388,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3297,184
$CFSIZE,260034560,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,232953,4740.107,-12250.254,10,2.5,29,18.3