version: 66.02
glider: 22
mission: 2
dive: 20
start: 9 21 107 5 54 59
data:
$ID,22
$MISSION,2
$DIVE,20
$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,-108524
$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,13
$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
$GPS1,055007,4740.273,-12250.016,30,1.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.1
$GPS2,055351,4740.179,-12250.163,14,1.4,14,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.210
$KALMAN_X,47.9,30.9,11.5,3428.7,-27.1
$KALMAN_Y,1132.1,44.1,1.6,-276.1,175.3
$MHEAD_RNG_PITCHd_Wd,192.2,3166,-15.7,-8.333
$D_GRID,91
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-67.78,0.000,2,0.000,0.000,38,2106,2909
$GC,96,-1.14,-146.6,2.3,-3.1,11,157,13.32,2.95,-40.53,0.000,4,0.202,0.137,2271,679,3998
$GC,256,-1.14,-146.6,16.9,-10.1,36,263,0.00,2.67,0.00,0.000,6,0.000,0.074,2272,2111,3999
$GC,327,-1.14,-146.6,24.0,-10.0,44,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2110,3999
$GC,518,-1.14,-146.6,43.5,-10.2,59,523,0.00,2.65,0.00,0.000,4,0.000,0.085,2272,3522,4001
$GC,550,-1.14,-146.6,47.2,-11.3,61,555,0.00,2.70,0.00,0.000,6,0.000,0.076,2272,2098,4001
$GC,752,-1.14,-146.6,68.1,-10.2,77,756,0.00,2.90,0.00,0.000,4,0.000,0.128,2271,680,4002
$GC,778,-1.14,-146.6,70.6,-10.1,79,782,0.00,2.67,0.00,0.000,6,0.000,0.077,2272,2110,4002
$STATE,978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,983,-0.31,0.0,91.4,10.5,95,1089,0.95,0.00,98.28,0.731,6,0.123,0.000,2458,1982,3483
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1092,1.14,146.6,94.3,0.0,104,1215,1.52,2.80,112.45,0.719,4,0.094,0.107,2773,586,2885
$GC,1267,1.14,146.6,81.3,12.7,118,1271,0.00,2.58,0.00,0.000,6,0.000,0.057,2773,2006,2884
$GC,1469,1.14,146.6,57.6,11.3,134,1473,0.00,2.85,0.00,0.000,4,0.000,0.109,2773,581,2884
$GC,1521,1.14,146.6,51.5,12.2,138,1525,0.00,2.58,0.00,0.000,6,0.000,0.058,2773,2005,2884
$GC,1723,1.14,146.6,28.8,11.4,154,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2005,2884
$GC,1918,1.14,146.6,9.7,9.4,177,1924,0.00,2.83,0.00,0.000,4,0.000,0.110,2773,591,2884
$GC,2175,1.38,363.1,3.0,0.1,216,2244,0.25,2.58,62.83,0.686,2,0.060,0.061,2835,2015,2544
$STATE,2246,end climb,SURFACE_DEPTH_REACHED
$STATE,2246,begin surface coast
$FINISH,0.6,1.020805
$STATE,2297,end surface coast,CONTROL_FINISHED_OK
$STATE,2297,begin surface
$SM_CCo,2318,123.95,0.652,0,0,1445,500.17
$SM_GC,1.32,0.00,0.00,123.95,0.000,0.000,0.652,38,2105,1445,-11.46,0.14,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2102
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,6.6
$ALTIM_BOTTOM_PING,51.2,7.8
$24V_AH,23.8,10.268
$10V_AH,10.2,2.845
$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,28.975,33.150,273.550,123.950,0.000,32.578,39.008,81.384,0.750,0.000,0.000,14.375,417.171,1164.201,485.095,393.467,240.469,33.332,753.272,0.000,396.428,0.000,7.291
$DEVICE_MAMPS,201.721,137.293,730.951,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,153.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,235
$CFSIZE,260034560,256520192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,063627,4740.015,-12250.306,13,1.3,13,18.3