version: 66.02
glider: 22
mission: 2
dive: 21
start: 9 21 107 6 41 5
data:
$ID,22
$MISSION,2
$DIVE,21
$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,-108538.8
$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,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
$GPS1,063627,4740.015,-12250.306,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.5
$GPS2,063957,4740.024,-12250.315,14,1.2,14,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.193
$KALMAN_X,142.6,30.8,-16.2,3170.8,22.3
$KALMAN_Y,1222.4,58.2,68.8,-734.7,164.1
$MHEAD_RNG_PITCHd_Wd,199.1,2831,-15.7,-8.333
$D_GRID,116
$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,-67.72,0.000,2,0.000,0.000,38,2105,2905
$GC,96,-1.14,-146.6,2.3,-4.1,11,158,13.27,3.00,-42.15,0.000,4,0.199,0.137,2274,681,3996
$GC,302,-1.14,-146.6,20.2,-10.5,43,307,0.00,2.67,0.00,0.000,6,0.000,0.074,2275,2113,3998
$GC,504,-1.14,-146.6,40.5,-9.7,59,508,0.00,2.65,0.00,0.000,4,0.000,0.087,2274,3516,3999
$GC,556,-1.14,-146.6,45.8,-9.8,63,561,0.00,2.67,0.00,0.000,6,0.000,0.076,2274,2095,4000
$GC,758,-1.14,-146.6,65.7,-9.9,79,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2095,4000
$GC,949,-1.14,-146.6,84.4,-9.9,94,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2095,4000
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1115,-0.31,0.0,100.6,9.3,107,1221,0.95,0.00,98.28,0.743,6,0.122,0.000,2461,1977,3483
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1224,1.14,146.6,102.9,0.0,116,1347,1.50,2.80,112.88,0.727,4,0.094,0.108,2773,588,2885
$GC,1372,1.14,146.6,93.1,11.3,128,1377,0.00,2.60,0.00,0.000,6,0.000,0.058,2773,2016,2884
$GC,1574,1.14,146.6,69.4,11.9,144,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2016,2884
$GC,1766,1.14,146.6,47.5,11.2,159,1771,0.00,2.85,0.00,0.000,4,0.000,0.110,2773,587,2884
$GC,1824,1.14,146.6,40.2,12.1,163,1829,0.00,2.58,0.00,0.000,6,0.000,0.057,2773,2017,2884
$GC,2020,1.14,146.6,18.7,10.6,179,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2017,2883
$GC,2092,1.14,146.6,11.7,9.8,190,2099,0.00,2.88,0.00,0.000,4,0.000,0.112,2773,583,2884
$GC,2145,1.14,146.6,7.2,9.0,198,2152,0.00,2.58,0.00,0.000,6,0.000,0.059,2773,2009,2884
$GC,2217,1.30,286.8,3.4,3.0,209,2273,0.17,0.00,53.28,0.685,2,0.064,0.000,2817,2009,2599
$STATE,2274,end climb,SURFACE_DEPTH_REACHED
$STATE,2274,begin surface coast
$FINISH,0.5,1.020738
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2353,140.07,0.651,0,0,1445,500.17
$SM_GC,1.38,0.00,0.00,140.07,0.000,0.000,0.651,38,2116,1445,-11.46,0.42,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2101
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,8.8
$ALTIM_BOTTOM_PING,50.9,7.8
$24V_AH,23.8,10.355
$10V_AH,10.2,2.864
$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,28.650,27.650,264.425,140.075,0.000,32.581,36.745,71.766,0.750,0.000,0.000,14.163,405.996,1229.659,494.373,379.625,228.320,33.340,754.802,0.000,381.461,0.000,7.294
$DEVICE_MAMPS,199.420,136.526,743.223,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,227
$CFSIZE,260034560,256495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,072344,4739.839,-12250.438,16,1.5,33,18.3