version: 66.02
glider: 22
mission: 2
dive: 16
start: 9 21 107 2 55 43
data:
$ID,22
$MISSION,2
$DIVE,16
$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,-108444.88
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,025017,4740.489,-12248.964,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,025435,4740.490,-12248.967,15,2.5,34,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,-0.121
$KALMAN_X,24.1,-5.4,43.3,4949.3,14.0
$KALMAN_Y,446.0,92.4,-85.0,1024.2,-62.4
$MHEAD_RNG_PITCHd_Wd,221.9,4683,-15.7,-8.333
$D_GRID,91
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.80,0.000,2,0.000,0.000,38,2097,2775
$GC,89,-1.14,-146.6,2.0,-2.0,10,163,13.23,2.65,-54.10,0.000,4,0.199,0.092,2273,3512,3995
$GC,414,-1.14,-146.6,33.6,-10.3,51,419,0.00,2.62,0.00,0.000,6,0.000,0.072,2273,2101,3997
$GC,616,-1.14,-146.6,54.1,-10.5,67,620,0.00,2.67,0.00,0.000,4,0.000,0.082,2273,3514,3998
$GC,642,-1.14,-146.6,56.8,-10.7,69,646,0.00,2.65,0.00,0.000,6,0.000,0.072,2273,2094,3997
$GC,844,-1.14,-146.6,77.0,-9.7,85,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2094,3998
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,998,-0.31,0.0,91.9,9.8,97,1104,0.95,0.00,97.82,0.727,6,0.122,0.000,2459,1975,3483
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1107,1.14,146.6,94.0,0.0,106,1230,1.50,2.75,112.88,0.711,4,0.093,0.099,2773,583,2885
$GC,1261,1.14,146.6,83.6,11.5,118,1269,0.00,2.60,0.00,0.000,6,0.000,0.054,2773,2006,2885
$GC,1457,1.14,146.6,61.5,11.7,134,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2006,2884
$GC,1648,1.14,146.6,39.0,11.5,149,1652,0.00,2.78,0.00,0.000,4,0.000,0.099,2773,584,2884
$GC,1692,1.14,146.6,33.5,12.1,152,1697,0.00,2.55,0.00,0.000,6,0.000,0.054,2773,2011,2884
$GC,1891,1.14,146.6,13.3,9.2,173,1898,0.00,2.80,0.00,0.000,4,0.000,0.103,2773,583,2884
$GC,2076,1.31,295.6,2.0,2.7,201,2085,0.17,2.55,3.05,0.762,2,0.064,0.056,2817,2015,2868
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2086,begin surface coast
$FINISH,1.8,1.020618
$STATE,2144,end surface coast,CONTROL_FINISHED_OK
$STATE,2144,begin surface
$SM_CCo,2165,176.18,0.654,0,0,1443,500.17
$SM_GC,1.39,0.00,0.00,176.18,0.000,0.000,0.654,38,2114,1443,-11.46,0.40,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2099
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,6.5
$ALTIM_BOTTOM_PING,50.1,7.5
$24V_AH,23.8,9.924
$10V_AH,10.2,2.768
$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,28.850,26.975,213.750,176.175,0.000,32.589,35.890,96.104,0.750,0.000,0.000,35.458,387.721,1112.759,498.849,383.986,251.578,33.318,738.382,0.000,364.398,0.000,7.718
$DEVICE_MAMPS,198.653,102.778,761.631,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6425,211
$CFSIZE,260034560,256622592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,033532,4740.400,-12249.267,10,1.9,15,18.3