version: 66.02
glider: 22
mission: 2
dive: 34
start: 9 21 107 17 3 54
data:
$ID,22
$MISSION,2
$DIVE,34
$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,-108896.78
$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,16
$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
$GPS1,165851,4739.136,-12251.658,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,170247,4739.144,-12251.629,11,2.3,30,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,0.149
$KALMAN_X,3306.0,433.3,40.1,-2086.2,-4.0
$KALMAN_Y,2660.7,177.4,-29.9,-3821.4,-7.7
$MHEAD_RNG_PITCHd_Wd,33.9,4130,-15.7,-8.333
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.14,-146.6,0.0,0.0,0,93,0.00,0.00,-67.88,0.000,2,0.000,0.000,40,2107,2919
$GC,96,-1.14,-146.6,2.4,-3.9,11,158,13.40,2.65,-41.45,0.000,4,0.204,0.094,2271,3513,3995
$GC,409,-1.14,-146.6,33.5,-10.9,50,413,0.00,2.67,0.00,0.000,6,0.000,0.080,2272,2103,3997
$GC,611,-1.14,-146.6,54.7,-10.5,66,615,0.00,2.70,0.00,0.000,4,0.000,0.084,2271,3516,3999
$GC,716,-1.14,-146.6,66.0,-11.0,74,720,0.00,2.72,0.00,0.000,6,0.000,0.083,2271,2088,3999
$GC,918,-1.14,-146.6,85.9,-9.6,90,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2088,3999
$STATE,1068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1068,begin apogee
$GC,1073,-0.31,0.0,100.7,9.8,102,1179,0.98,0.00,98.70,0.732,6,0.131,0.000,2458,1981,3483
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1182,1.14,146.6,103.8,0.0,111,1305,1.55,2.85,113.53,0.719,4,0.104,0.113,2773,582,2885
$GC,1344,1.14,146.6,92.8,12.1,124,1348,0.00,2.60,0.00,0.000,6,0.000,0.059,2773,2011,2884
$GC,1546,1.14,146.6,68.7,11.3,140,1550,0.00,2.90,0.00,0.000,4,0.000,0.115,2773,580,2884
$GC,1578,1.14,146.6,64.5,12.5,142,1583,0.00,2.60,0.00,0.000,6,0.000,0.060,2773,2012,2883
$GC,1780,1.14,146.6,41.0,11.6,158,1784,0.00,2.88,0.00,0.000,4,0.000,0.115,2773,589,2883
$GC,1811,1.14,146.6,37.1,12.1,160,1819,0.00,2.60,0.00,0.000,6,0.000,0.059,2774,2009,2883
$GC,2010,1.14,146.6,15.8,10.2,179,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2009,2883
$GC,2081,1.14,146.6,8.5,10.2,190,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2009,2883
$GC,2152,1.30,291.7,4.6,2.8,201,2226,0.17,0.00,71.32,0.674,2,0.066,0.000,2818,2010,2502
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2228,begin surface coast
$FINISH,0.6,1.008939
$STATE,2273,end surface coast,CONTROL_FINISHED_OK
$STATE,2273,begin surface
$SM_CCo,2293,128.57,0.644,0,0,1444,500.17
$SM_GC,1.30,0.00,0.00,128.57,0.000,0.000,0.644,35,2108,1444,-11.48,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2102
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,10.0,7.9
$ALTIM_BOTTOM_PING,50.7,7.1
$24V_AH,23.8,11.521
$10V_AH,10.2,3.127
$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,28.875,27.525,283.550,128.575,0.000,32.579,34.858,79.227,1.250,0.000,0.000,31.090,391.242,1159.922,498.232,408.303,234.233,33.331,767.216,0.000,394.912,0.000,7.877
$DEVICE_MAMPS,204.022,115.050,732.485,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6421,220
$CFSIZE,260034560,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,174523,4739.216,-12251.290,14,6.6,33,18.3