version: 66.02
glider: 22
mission: 2
dive: 17
start: 9 21 107 3 40 30
data:
$ID,22
$MISSION,2
$DIVE,17
$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,-108457.36
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,033532,4740.400,-12249.267,10,1.9,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.7
$GPS2,033921,4740.404,-12249.276,11,1.5,11,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.139
$KALMAN_X,91.7,4.5,36.1,4492.8,36.3
$KALMAN_Y,560.1,69.1,-87.1,773.3,-1.5
$MHEAD_RNG_PITCHd_Wd,216.9,4279,-15.7,-8.333
$D_GRID,87
$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,-61.88,0.000,2,0.000,0.000,38,2116,2774
$GC,89,-1.14,-146.6,2.1,-2.7,10,162,13.25,2.62,-51.97,0.000,4,0.200,0.094,2271,3508,3996
$GC,414,-1.14,-146.6,35.0,-10.4,51,418,0.00,2.65,0.00,0.000,6,0.000,0.074,2271,2093,3998
$GC,616,-1.14,-146.6,55.7,-10.2,67,620,0.00,2.67,0.00,0.000,4,0.000,0.082,2271,3508,3999
$GC,647,-1.14,-146.6,59.2,-11.1,69,655,0.00,2.67,0.00,0.000,6,0.000,0.074,2271,2093,3999
$GC,843,-1.14,-146.6,78.8,-10.0,85,848,0.00,2.70,0.00,0.000,4,0.000,0.084,2271,3513,3998
$GC,874,-1.14,-146.6,82.2,-11.3,87,883,0.00,2.70,0.00,0.000,6,0.000,0.075,2271,2088,3999
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,936,-0.31,0.0,87.9,10.1,92,1042,0.95,0.00,98.22,0.726,6,0.121,0.000,2457,1984,3483
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1044,1.14,146.6,90.7,0.0,101,1166,1.52,0.00,113.30,0.711,6,0.100,0.000,2771,1983,2885
$GC,1355,1.14,146.6,63.4,11.7,126,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1983,2885
$GC,1544,1.14,146.6,41.8,11.2,141,1548,0.00,2.72,0.00,0.000,4,0.000,0.103,2771,589,2884
$GC,1568,1.14,146.6,38.9,11.3,142,1576,0.00,2.55,0.00,0.000,6,0.000,0.056,2771,1996,2884
$GC,1765,1.14,146.6,17.9,9.7,159,1772,0.00,2.80,0.00,0.000,4,0.000,0.109,2771,589,2884
$GC,1797,1.14,146.6,14.8,10.0,164,1804,0.00,2.55,0.00,0.000,6,0.000,0.057,2771,2012,2884
$GC,1870,1.15,151.2,8.3,8.2,175,1882,0.00,2.90,3.38,0.742,4,0.000,0.110,2771,585,2868
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,1.9,1.020593
$STATE,2054,end surface coast,CONTROL_FINISHED_OK
$STATE,2054,begin surface
$SM_CCo,2077,178.48,0.652,0,0,1444,500.17
$SM_GC,1.32,0.00,0.00,178.48,0.000,0.000,0.652,38,2118,1444,-11.46,0.51,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2096
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,8.1
$ALTIM_BOTTOM_PING,50.6,7.1
$24V_AH,23.8,10.009
$10V_AH,10.2,2.787
$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,28.475,32.500,214.900,178.475,0.000,32.578,35.935,91.817,0.750,0.000,0.000,11.854,372.482,1042.156,519.256,341.259,245.276,33.331,754.942,0.000,348.313,0.000,7.779
$DEVICE_MAMPS,200.187,110.448,741.689,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6469,203
$CFSIZE,260034560,256598016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,041907,4740.325,-12249.605,13,1.7,29,18.3