version: 66.02
glider: 22
mission: 2
dive: 30
start: 9 21 107 13 58 11
data:
$ID,22
$MISSION,2
$DIVE,30
$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,-108784.77
$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,16
$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
$GPS1,134955,4739.345,-12251.274,25,0.9,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.8
$GPS2,135703,4739.363,-12251.237,13,1.2,13,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.137
$KALMAN_X,2722.6,370.5,263.1,-1176.9,170.2
$KALMAN_Y,2577.8,149.6,0.0,-3336.9,106.5
$MHEAD_RNG_PITCHd_Wd,217.5,1165,-15.7,-8.333
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.14,-146.6,0.0,0.0,0,92,0.00,0.00,-67.62,0.000,2,0.000,0.000,38,2105,2900
$GC,95,-1.14,-146.6,2.3,-3.6,11,162,13.38,3.00,-43.55,0.000,4,0.202,0.141,2273,688,3996
$GC,187,-1.14,-146.6,8.7,-12.6,26,194,0.00,2.65,0.00,0.000,6,0.000,0.077,2273,2105,3996
$GC,259,-1.14,-146.6,15.5,-8.6,37,266,0.00,2.67,0.00,0.000,4,0.000,0.087,2273,3513,3997
$GC,305,-1.14,-146.6,20.1,-10.5,44,312,0.00,2.70,0.00,0.000,6,0.000,0.081,2273,2095,3997
$GC,500,-1.14,-146.6,39.9,-10.5,60,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2096,3999
$GC,689,-1.14,-146.6,59.1,-9.9,75,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2096,4000
$GC,880,-1.14,-146.6,78.0,-10.0,90,884,0.00,2.72,0.00,0.000,4,0.000,0.087,2273,3517,4000
$GC,924,-1.14,-146.6,82.8,-10.6,93,929,0.00,2.72,0.00,0.000,6,0.000,0.084,2273,2090,4000
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1105,-0.31,0.0,101.3,10.6,107,1211,0.95,0.00,98.88,0.739,6,0.127,0.000,2457,1983,3483
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1212,begin climb
$GC,1213,1.14,146.6,104.5,0.0,116,1337,1.55,2.85,113.28,0.721,4,0.101,0.114,2774,588,2885
$GC,1375,1.14,146.6,93.7,11.4,129,1380,0.00,2.60,0.00,0.000,6,0.000,0.059,2774,2017,2884
$GC,1577,1.14,146.6,70.3,11.6,145,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2017,2884
$GC,1767,1.14,146.6,47.8,11.8,160,1772,0.00,2.88,0.00,0.000,4,0.000,0.114,2774,590,2884
$GC,1826,1.14,146.6,41.1,11.1,164,1830,0.00,2.58,0.00,0.000,6,0.000,0.058,2774,2018,2883
$GC,2028,1.14,146.6,19.1,10.8,180,2035,0.00,2.88,0.00,0.000,4,0.000,0.114,2774,589,2883
$GC,2066,1.14,146.6,14.8,11.0,186,2073,0.00,2.55,0.00,0.000,6,0.000,0.058,2774,2006,2882
$GC,2139,1.14,146.6,7.6,9.3,197,2145,0.00,2.60,0.00,0.000,4,0.000,0.074,2774,3415,2884
$GC,2396,1.37,356.6,2.0,0.3,236,2405,0.25,2.60,3.03,0.766,2,0.064,0.062,2832,1990,2868
$STATE,2405,end climb,SURFACE_DEPTH_REACHED
$STATE,2406,begin surface coast
$FINISH,0.5,1.017181
$STATE,2543,end surface coast,CONTROL_FINISHED_OK
$STATE,2543,begin surface
$SM_CCo,2563,186.50,0.654,0,0,1444,500.17
$SM_GC,1.40,0.00,0.00,186.50,0.000,0.000,0.654,35,2104,1444,-11.47,0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2111
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,7.8
$ALTIM_BOTTOM_PING,50.4,8.2
$24V_AH,23.8,11.168
$10V_AH,10.2,3.051
$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,28.925,38.400,215.175,186.500,0.000,65.222,75.669,145.598,0.750,0.000,0.000,13.243,466.377,1413.751,520.506,421.301,390.918,33.355,798.625,0.000,427.252,0.000,6.958
$DEVICE_MAMPS,202.488,141.128,766.233,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,258
$CFSIZE,260034560,256266240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,144445,4739.217,-12251.451,11,1.8,11,18.3