version: 66.02
glider: 22
mission: 2
dive: 7
start: 9 20 107 20 46 34
data:
$ID,22
$MISSION,2
$DIVE,7
$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,30
$T_MISSION,65
$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,-108228.76
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$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
$GPS1,204151,4739.658,-12251.877,34,1.7,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.5
$GPS2,204527,4739.682,-12251.851,17,1.8,17,18.3
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.254,0.081
$KALMAN_X,-188.1,-83.3,-35.5,1722.2,-40.7
$KALMAN_Y,555.1,188.4,105.3,-866.4,31.1
$MHEAD_RNG_PITCHd_Wd,54.0,3864,-20.1,-11.111
$D_GRID,123
$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,22,begin dive
$GC,24,-1.42,-146.6,0.0,0.0,0,81,0.00,0.00,-55.47,0.000,2,0.000,0.000,36,2070,2820
$GC,84,-1.42,-146.6,2.2,-3.3,9,152,12.88,2.70,-48.05,0.000,4,0.201,0.091,2213,3511,3994
$GC,401,-1.42,-146.6,41.2,-14.7,47,409,0.00,2.62,0.00,0.000,6,0.000,0.071,2213,2109,3996
$GC,597,-1.42,-146.6,71.2,-15.7,63,602,0.00,2.65,0.00,0.000,4,0.000,0.083,2213,3510,3997
$GC,663,-1.42,-146.6,81.6,-15.5,68,667,0.00,2.65,0.00,0.000,6,0.000,0.074,2213,2085,3997
$STATE,800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,800,begin apogee
$GC,805,-0.31,0.0,100.6,13.9,79,906,1.25,0.00,97.35,0.743,6,0.127,0.000,2457,2205,3484
$STATE,907,end apogee,CONTROL_FINISHED_OK
$STATE,907,begin climb
$GC,909,1.42,146.6,102.7,0.0,87,1030,1.80,2.55,112.18,0.729,4,0.093,0.074,2839,3561,2885
$GC,1074,1.42,146.6,87.1,17.1,100,1082,0.00,2.53,0.00,0.000,6,0.000,0.057,2838,2194,2885
$GC,1397,1.42,146.6,40.5,14.3,126,1401,0.00,2.72,0.00,0.000,4,0.000,0.104,2838,785,2884
$GC,1521,1.42,146.6,21.1,15.1,135,1529,0.00,2.58,0.00,0.000,6,0.000,0.061,2838,2199,2883
$GC,1727,1.67,378.8,2.8,-0.6,165,1789,0.22,0.00,58.75,0.686,2,0.066,0.000,2895,2199,2560
$STATE,1789,end climb,SURFACE_DEPTH_REACHED
$STATE,1789,begin surface coast
$FINISH,0.5,1.003786
$STATE,1874,end surface coast,CONTROL_FINISHED_OK
$STATE,1874,begin surface
$SM_CCo,1895,123.90,0.653,0,0,1445,500.17
$SM_GC,1.22,0.00,0.00,123.90,0.000,0.000,0.653,36,2084,1445,-11.47,-0.45,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2099
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.3,7.9
$ALTIM_BOTTOM_PING,51.5,9.0
$24V_AH,23.9,9.099
$10V_AH,10.2,2.596
$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,29.175,21.425,268.275,123.900,0.000,32.580,34.548,75.808,1.000,0.000,0.000,17.261,336.204,890.841,469.646,349.491,223.343,33.328,704.930,0.000,348.336,0.000,7.767
$DEVICE_MAMPS,200.954,103.545,743.223,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,188
$CFSIZE,260034560,256815104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,212117,4739.720,-12251.447,12,2.1,31,18.3