version: 66.02
glider: 22
mission: 2
dive: 48
start: 9 22 107 4 47 58
data:
$ID,22
$MISSION,2
$DIVE,48
$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,-109241.87
$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,13
$R_STBD_OVSHOOT,21
$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
$GPS1,044245,4740.390,-12249.811,14,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.2
$GPS2,044650,4740.394,-12249.800,13,2.0,30,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,-0.121
$KALMAN_X,6010.6,132.3,260.8,-2430.5,57.1
$KALMAN_Y,2160.6,-142.5,39.3,-757.6,99.5
$MHEAD_RNG_PITCHd_Wd,221.8,4578,-15.7,-8.333
$D_GRID,88
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-67.75,0.000,2,0.000,0.000,37,2119,2905
$GC,95,-1.14,-146.6,2.2,-2.7,11,162,13.38,3.03,-44.90,0.000,4,0.202,0.140,2273,686,3997
$GC,385,-1.14,-146.6,28.2,-9.9,50,393,0.00,2.67,0.00,0.000,6,0.000,0.076,2273,2094,3999
$GC,581,-1.14,-146.6,47.7,-10.1,66,586,0.00,2.72,0.00,0.000,4,0.000,0.091,2273,3522,3999
$GC,652,-1.14,-146.6,55.3,-11.1,71,660,0.00,2.75,0.00,0.000,6,0.000,0.084,2273,2100,3999
$GC,848,-1.14,-146.6,75.0,-9.9,87,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2100,3999
$STATE,986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,986,begin apogee
$GC,990,-0.31,0.0,88.0,8.6,98,1097,0.95,0.00,98.43,0.723,6,0.126,0.000,2457,1984,3483
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1099,1.14,146.6,89.9,0.0,107,1223,1.55,2.85,113.12,0.706,4,0.099,0.114,2775,591,2885
$GC,1253,1.14,146.6,78.3,12.6,119,1262,0.00,2.62,0.00,0.000,6,0.000,0.058,2775,2013,2884
$GC,1450,1.14,146.6,53.3,12.7,135,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2013,2884
$GC,1640,1.14,146.6,30.8,11.4,150,1645,0.00,2.90,0.00,0.000,4,0.000,0.117,2775,581,2883
$GC,1698,1.14,146.6,23.4,12.4,154,1703,0.00,2.58,0.00,0.000,6,0.000,0.058,2775,2005,2883
$GC,1901,1.16,160.0,2.6,7.8,182,1916,0.00,1.88,9.98,0.700,3,0.000,0.066,2775,3015,2830
$STATE,1916,end climb,SURFACE_DEPTH_REACHED
$STATE,1917,begin surface coast
$FINISH,0.5,1.020726
$STATE,1948,end surface coast,CONTROL_FINISHED_OK
$STATE,1948,begin surface
$SM_CCo,1970,176.43,0.645,0,0,1445,500.17
$SM_GC,1.34,0.00,0.00,176.43,0.000,0.000,0.645,37,2089,1445,-11.47,-0.31,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2112
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.0
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.8,12.781
$10V_AH,10.2,3.421
$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,28.450,25.925,221.525,176.425,0.000,32.589,34.395,91.520,0.750,0.000,0.000,30.990,347.328,986.991,503.973,350.456,237.850,33.333,731.896,0.000,335.597,0.000,6.954
$DEVICE_MAMPS,202.488,140.361,723.281,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6424,189
$CFSIZE,260034560,255840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,052501,4740.323,-12250.058,39,1.2,44,18.3