version: 66.02
glider: 22
mission: 2
dive: 18
start: 9 21 107 4 24 6
data:
$ID,22
$MISSION,2
$DIVE,18
$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,-108474.14
$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,23
$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
$GPS1,041907,4740.325,-12249.605,13,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.5
$GPS2,042257,4740.334,-12249.625,16,1.5,16,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.172
$KALMAN_X,77.1,13.3,31.5,4070.7,18.2
$KALMAN_Y,723.5,46.1,-81.1,498.2,74.2
$MHEAD_RNG_PITCHd_Wd,206.9,3859,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.92,0.000,2,0.000,0.000,38,2119,2780
$GC,89,-1.14,-146.6,2.1,-2.2,10,162,13.30,2.65,-50.58,0.000,4,0.201,0.092,2273,3510,3997
$GC,413,-1.14,-146.6,34.0,-10.2,51,418,0.00,2.65,0.00,0.000,6,0.000,0.074,2273,2093,3999
$GC,615,-1.14,-146.6,53.7,-9.8,67,620,0.00,2.70,0.00,0.000,4,0.000,0.082,2273,3516,4000
$GC,761,-1.14,-146.6,68.8,-9.9,78,766,0.00,2.67,0.00,0.000,6,0.000,0.074,2273,2087,4001
$GC,956,-1.14,-146.6,87.6,-9.6,93,960,0.00,2.70,0.00,0.000,4,0.000,0.083,2273,3510,4001
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,975,-0.31,0.0,88.7,8.6,94,1078,0.95,0.00,98.45,0.728,6,0.127,0.000,2458,1987,3483
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1081,1.14,146.6,92.4,0.0,103,1204,1.52,2.67,113.45,0.716,4,0.095,0.067,2774,3409,2885
$GC,1216,1.14,146.6,85.7,9.9,114,1221,0.00,2.65,0.00,0.000,6,0.000,0.062,2774,1981,2885
$GC,1418,1.14,146.6,62.1,11.9,130,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1981,2884
$GC,1608,1.14,146.6,40.9,10.8,145,1612,0.00,2.78,0.00,0.000,4,0.000,0.114,2772,580,2884
$GC,1646,1.14,146.6,36.0,12.6,148,1652,0.00,2.60,0.00,0.000,6,0.000,0.059,2773,2002,2884
$GC,1844,1.14,146.6,15.3,10.7,166,1851,0.00,2.83,0.00,0.000,4,0.000,0.110,2773,583,2883
$GC,2101,1.39,372.9,2.7,-0.3,205,2158,0.28,2.58,50.78,0.683,2,0.060,0.060,2839,2011,2613
$STATE,2159,end climb,SURFACE_DEPTH_REACHED
$STATE,2159,begin surface coast
$FINISH,1.6,1.020650
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2186,131.10,0.648,0,0,1445,500.17
$SM_GC,1.41,0.00,0.00,131.10,0.000,0.000,0.648,39,2110,1445,-11.46,0.28,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2118
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,8.6
$ALTIM_BOTTOM_PING,50.0,7.7
$24V_AH,23.8,10.095
$10V_AH,10.2,2.806
$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,29.300,32.525,262.675,131.100,0.000,32.588,33.405,93.009,0.750,0.000,0.000,16.148,387.442,1081.911,490.110,379.022,244.428,33.353,742.265,0.000,378.664,0.000,7.736
$DEVICE_MAMPS,200.954,113.516,727.883,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,215
$CFSIZE,260034560,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,050347,4740.304,-12249.955,11,2.4,30,18.3