version: 66.02
glider: 22
mission: 2
dive: 14
start: 9 21 107 1 41 10
data:
$ID,22
$MISSION,2
$DIVE,14
$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,-108375.9
$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,19
$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
$GPS1,013544,4740.333,-12249.454,9,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.0
$GPS2,014003,4740.332,-12249.454,12,1.3,12,18.3
$SPEED_LIMITS,0.192,0.245
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,0.139
$KALMAN_X,-30.8,-21.3,45.8,4411.7,-4.7
$KALMAN_Y,521.8,138.7,-60.7,585.8,-47.9
$MHEAD_RNG_PITCHd_Wd,37.0,646,-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,-122.2,0.0,0.0,0,87,0.00,0.00,-61.50,0.000,2,0.000,0.000,37,2104,2770
$GC,90,-1.51,-122.2,2.0,-2.4,10,163,12.77,2.88,-52.55,0.000,4,0.200,0.129,2191,685,3983
$GC,314,-1.51,-122.2,28.3,-13.8,41,322,0.00,2.62,0.00,0.000,6,0.000,0.069,2191,2099,3985
$GC,511,-1.51,-122.2,57.7,-14.8,57,515,0.00,2.65,0.00,0.000,4,0.000,0.084,2192,3516,3985
$GC,550,-1.51,-122.2,64.0,-16.6,60,554,0.00,2.62,0.00,0.000,6,0.000,0.071,2192,2101,3985
$STATE,713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,713,begin apogee
$GC,718,-0.31,0.0,89.2,15.4,73,818,1.40,0.00,95.60,0.723,6,0.138,0.000,2458,1976,3483
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,820,1.51,122.2,92.9,0.0,81,923,1.88,0.00,94.88,0.711,6,0.094,0.000,2855,1974,2984
$GC,1111,1.51,122.2,62.0,14.5,105,1116,0.00,2.67,0.00,0.000,4,0.000,0.098,2854,592,2983
$GC,1170,1.51,122.2,53.4,14.3,109,1174,0.00,2.55,0.00,0.000,6,0.000,0.056,2854,2017,2982
$GC,1372,1.51,122.2,25.8,12.6,125,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2017,2983
$GC,1568,1.65,245.5,5.0,3.6,151,1642,0.15,0.00,71.38,0.669,2,0.073,0.000,2890,2017,2594
$STATE,1643,end climb,SURFACE_DEPTH_REACHED
$STATE,1644,begin surface coast
$FINISH,0.5,1.020789
$STATE,1675,end surface coast,CONTROL_FINISHED_OK
$STATE,1676,begin surface
$SM_CCo,1696,130.02,0.640,0,0,1443,500.17
$SM_GC,1.36,0.00,0.00,130.02,0.000,0.000,0.640,35,2109,1443,-11.48,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2110
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,7.8
$ALTIM_BOTTOM_PING,50.1,6.9
$24V_AH,23.8,9.746
$10V_AH,10.2,2.730
$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,29.300,16.350,261.850,130.025,0.000,32.588,33.171,127.288,0.750,0.000,0.000,12.521,297.062,795.233,486.735,275.283,266.385,33.322,685.103,0.000,281.446,0.000,6.955
$DEVICE_MAMPS,200.187,128.856,722.514,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,108.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3299,168
$CFSIZE,260034560,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,021221,4740.404,-12249.171,11,1.6,11,18.3