version: 66.02
glider: 22
mission: 2
dive: 13
start: 9 21 107 1 4 21
data:
$ID,22
$MISSION,2
$DIVE,13
$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,60
$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,125
$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,-108362.75
$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,29
$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
$GPS1,005525,4740.252,-12249.690,30,1.3,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,010314,4740.245,-12249.687,14,1.3,14,18.3
$SPEED_LIMITS,0.192,0.245
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,0.146
$KALMAN_X,-7.9,-25.5,42.6,4105.9,15.3
$KALMAN_Y,545.3,160.9,-40.2,357.6,-50.6
$MHEAD_RNG_PITCHd_Wd,35.1,978,-22.1,-11.111
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.51,-122.2,0.0,0.0,0,93,0.00,0.00,-67.50,0.000,2,0.000,0.000,38,2124,2898
$GC,96,-1.51,-122.2,2.2,-3.8,11,158,12.73,2.90,-41.65,0.000,4,0.199,0.125,2194,681,3983
$GC,374,-1.51,-122.2,38.4,-15.7,44,382,0.00,2.62,0.00,0.000,6,0.000,0.068,2194,2097,3985
$GC,570,-1.51,-122.2,67.5,-14.8,60,574,0.00,2.65,0.00,0.000,4,0.000,0.082,2194,3518,3986
$GC,609,-1.51,-122.2,73.7,-16.2,63,614,0.00,2.62,0.00,0.000,6,0.000,0.071,2194,2102,3986
$STATE,709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,709,begin apogee
$GC,713,-0.31,0.0,89.0,14.9,71,813,1.38,0.00,95.32,0.719,6,0.134,0.000,2459,1978,3483
$STATE,814,end apogee,CONTROL_FINISHED_OK
$STATE,814,begin climb
$GC,815,1.51,122.2,92.7,0.0,79,918,1.90,0.00,94.30,0.709,6,0.097,0.000,2858,1977,2986
$GC,1232,1.51,122.2,43.9,13.8,113,1237,0.00,2.67,0.00,0.000,4,0.000,0.097,2857,591,2985
$GC,1338,1.51,122.2,28.7,13.7,121,1342,0.00,2.53,0.00,0.000,6,0.000,0.054,2857,2012,2984
$GC,1539,1.59,194.2,5.6,6.7,146,1600,0.00,2.88,53.65,0.670,4,0.000,0.107,2857,591,2691
$STATE,1619,end climb,SURFACE_DEPTH_REACHED
$STATE,1619,begin surface coast
$FINISH,0.5,1.004016
$STATE,1659,end surface coast,CONTROL_FINISHED_OK
$STATE,1659,begin surface
$SM_CCo,1682,154.23,0.641,0,0,1444,500.17
$SM_GC,1.30,0.00,0.00,154.23,0.000,0.000,0.641,37,2103,1444,-11.47,0.08,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2079
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,7.0
$ALTIM_BOTTOM_PING,50.6,8.0
$24V_AH,23.9,9.660
$10V_AH,10.2,2.714
$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,28.925,21.900,243.275,154.225,0.000,65.215,142.101,133.837,0.750,0.000,0.000,14.969,298.417,844.035,497.588,285.243,414.393,33.329,695.165,0.000,289.023,0.000,6.957
$DEVICE_MAMPS,198.653,125.021,718.679,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,106.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,165
$CFSIZE,260034560,256696320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,013544,4740.333,-12249.454,9,1.2,14,18.3