version: 66.02
glider: 22
mission: 2
dive: 22
start: 9 21 107 7 29 4
data:
$ID,22
$MISSION,2
$DIVE,22
$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,-108572.2
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,072344,4739.839,-12250.438,16,1.5,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.3
$GPS2,072756,4739.846,-12250.437,15,1.2,32,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.187,-0.156
$KALMAN_X,344.9,35.5,-37.5,2833.2,99.5
$KALMAN_Y,1279.1,74.6,134.1,-1201.5,94.1
$MHEAD_RNG_PITCHd_Wd,211.8,2502,-15.7,-8.333
$D_GRID,120
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-67.88,0.000,2,0.000,0.000,38,2116,2906
$GC,95,-1.14,-146.6,2.3,-3.9,11,157,13.30,2.95,-41.72,0.000,4,0.201,0.137,2272,686,3996
$GC,373,-1.14,-146.6,28.5,-10.3,48,381,0.00,2.67,0.00,0.000,6,0.000,0.074,2273,2101,3999
$GC,569,-1.14,-146.6,48.9,-10.2,64,574,0.00,2.67,0.00,0.000,4,0.000,0.087,2273,3516,3999
$GC,634,-1.14,-146.6,55.7,-10.5,69,639,0.00,2.67,0.00,0.000,6,0.000,0.077,2272,2099,3999
$GC,836,-1.14,-146.6,75.3,-9.5,85,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2098,3999
$GC,1028,-1.14,-146.6,93.8,-9.8,100,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2098,3999
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1105,-0.31,0.0,101.2,9.9,106,1211,0.95,0.00,98.30,0.741,6,0.124,0.000,2458,1980,3484
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1212,begin climb
$GC,1213,1.14,146.6,103.9,0.0,115,1337,1.52,2.80,113.30,0.726,4,0.100,0.105,2770,583,2884
$GC,1367,1.14,146.6,94.2,11.3,127,1376,0.00,2.60,0.00,0.000,6,0.000,0.056,2770,2006,2884
$GC,1564,1.14,146.6,71.6,11.4,143,1568,0.00,2.85,0.00,0.000,4,0.000,0.110,2770,586,2884
$GC,1596,1.14,146.6,67.6,12.3,145,1603,0.00,2.60,0.00,0.000,6,0.000,0.058,2771,2007,2884
$GC,1792,1.14,146.6,45.5,11.5,161,1796,0.00,2.85,0.00,0.000,4,0.000,0.110,2770,582,2884
$GC,1823,1.14,146.6,41.6,12.3,163,1831,0.00,2.60,0.00,0.000,6,0.000,0.058,2770,2005,2884
$GC,2020,1.14,146.6,19.9,10.4,179,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2005,2884
$GC,2091,1.14,146.6,13.2,9.1,190,2098,0.00,2.85,0.00,0.000,4,0.000,0.112,2770,583,2884
$GC,2136,1.14,146.6,8.6,10.4,197,2143,0.00,2.58,0.00,0.000,6,0.000,0.058,2770,2015,2884
$GC,2208,1.24,235.2,3.3,5.0,208,2259,0.12,0.00,47.38,0.686,2,0.069,0.000,2802,2015,2630
$STATE,2259,end climb,SURFACE_DEPTH_REACHED
$STATE,2260,begin surface coast
$FINISH,0.5,1.020787
$STATE,2350,end surface coast,CONTROL_FINISHED_OK
$STATE,2351,begin surface
$SM_CCo,2371,144.50,0.652,0,0,1445,500.17
$SM_GC,1.34,0.00,0.00,144.50,0.000,0.000,0.652,35,2107,1445,-11.47,0.20,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2119
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,6.5
$ALTIM_BOTTOM_PING,50.2,7.7
$24V_AH,23.8,10.444
$10V_AH,10.2,2.885
$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,28.600,33.050,258.975,144.500,0.000,32.579,36.292,93.180,0.750,0.000,0.000,32.772,410.360,1217.724,512.175,410.153,251.810,33.345,780.575,0.000,395.239,0.000,6.953
$DEVICE_MAMPS,200.954,136.526,740.922,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,230
$CFSIZE,260034560,256475136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,081228,4739.701,-12250.550,36,2.3,55,18.3