version: 66.02
glider: 22
mission: 2
dive: 50
start: 9 22 107 6 12 16
data:
$ID,22
$MISSION,2
$DIVE,50
$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,-109292.01
$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,14
$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
$GPS1,060733,4740.237,-12250.320,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.3
$GPS2,061108,4740.260,-12250.299,10,1.3,15,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,-0.117
$KALMAN_X,6362.1,184.4,122.2,-3320.6,45.4
$KALMAN_Y,2300.2,-69.9,92.9,-1272.7,86.6
$MHEAD_RNG_PITCHd_Wd,222.9,3908,-15.7,-8.333
$D_GRID,92
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-67.80,0.000,2,0.000,0.000,39,2111,2915
$GC,96,-1.14,-146.6,2.3,-3.9,11,157,13.50,2.67,-39.75,0.000,4,0.207,0.097,2279,3513,3996
$GC,262,-1.14,-146.6,17.7,-11.0,37,269,0.00,2.70,0.00,0.000,6,0.000,0.081,2279,2100,3998
$GC,338,-1.14,-146.6,25.2,-9.9,45,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2100,3999
$GC,528,-1.14,-146.6,43.1,-9.0,60,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2100,3999
$GC,717,-1.14,-146.6,60.4,-9.0,75,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2100,4000
$GC,907,-1.14,-146.6,78.4,-9.7,90,911,0.00,2.72,0.00,0.000,4,0.000,0.090,2279,3516,3999
$GC,933,-1.14,-146.6,80.9,-10.1,91,939,0.00,2.75,0.00,0.000,6,0.000,0.089,2279,2093,3999
$STATE,1050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1050,begin apogee
$GC,1055,-0.31,0.0,92.7,9.7,101,1161,0.93,0.00,98.38,0.727,6,0.127,0.000,2458,1979,3484
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1164,1.14,146.6,95.8,0.0,110,1287,1.55,2.85,113.25,0.713,4,0.105,0.114,2773,585,2884
$GC,1312,1.14,146.6,85.8,11.5,122,1317,0.00,2.60,0.00,0.000,6,0.000,0.058,2773,2015,2884
$GC,1514,1.14,146.6,62.1,11.7,138,1519,0.00,2.92,0.00,0.000,4,0.000,0.115,2773,586,2884
$GC,1554,1.14,146.6,57.2,12.5,141,1559,0.00,2.60,0.00,0.000,6,0.000,0.060,2773,2002,2883
$GC,1756,1.14,146.6,33.2,11.6,157,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2002,2883
$GC,1948,1.14,146.6,11.7,10.2,177,1955,0.00,2.88,0.00,0.000,4,0.000,0.117,2773,583,2884
$GC,1974,1.14,146.6,9.5,8.7,181,1981,0.00,2.58,0.00,0.000,6,0.000,0.059,2773,2012,2883
$GC,2046,1.17,172.8,3.4,7.3,192,2072,0.00,2.62,19.45,0.689,4,0.000,0.074,2773,3409,2777
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,0.6,1.012236
$STATE,2111,end surface coast,CONTROL_FINISHED_OK
$STATE,2111,begin surface
$SM_CCo,2134,166.65,0.645,0,0,1444,500.17
$SM_GC,1.33,0.00,0.00,166.65,0.000,0.000,0.645,38,2081,1444,-11.46,-0.54,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2112
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,7.8
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.8,12.952
$10V_AH,10.2,3.458
$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,28.525,32.600,231.075,166.650,0.000,32.589,33.771,77.757,0.750,0.000,0.000,16.004,371.025,1110.253,501.887,338.416,229.347,33.346,739.711,0.000,338.277,0.000,6.953
$DEVICE_MAMPS,207.090,117.351,727.116,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,202
$CFSIZE,260034560,255787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,065138,4740.182,-12250.531,11,1.8,28,18.3