version: 66.02
glider: 22
mission: 2
dive: 23
start: 9 21 107 8 17 48
data:
$ID,22
$MISSION,2
$DIVE,23
$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,-108605.02
$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,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
$GPS1,081228,4739.701,-12250.550,36,2.3,55,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,081641,4739.711,-12250.525,12,2.2,31,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.127
$KALMAN_X,645.4,49.8,-37.7,2406.6,175.0
$KALMAN_Y,1370.0,77.0,162.0,-1573.5,73.1
$MHEAD_RNG_PITCHd_Wd,220.2,2263,-15.7,-8.333
$D_GRID,119
$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,-67.95,0.000,2,0.000,0.000,36,2108,2907
$GC,96,-1.14,-146.6,2.4,-4.0,11,163,13.32,2.97,-45.33,0.000,4,0.201,0.143,2272,689,3997
$GC,261,-1.14,-146.6,15.6,-10.1,37,268,0.00,2.65,0.00,0.000,6,0.000,0.076,2272,2104,3998
$GC,332,-1.14,-146.6,22.8,-10.2,46,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2103,3999
$GC,524,-1.14,-146.6,41.7,-10.3,61,528,0.00,2.65,0.00,0.000,4,0.000,0.086,2272,3511,4000
$GC,555,-1.14,-146.6,45.5,-11.2,63,561,0.00,2.70,0.00,0.000,6,0.000,0.078,2274,2099,4000
$GC,757,-1.14,-146.6,65.9,-9.9,79,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2100,4000
$GC,948,-1.14,-146.6,84.1,-9.5,94,952,0.00,2.70,0.00,0.000,4,0.000,0.085,2272,3513,4000
$GC,971,-1.14,-146.6,86.8,-10.1,95,980,0.00,2.70,0.00,0.000,6,0.000,0.079,2273,2102,4000
$STATE,1116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1116,begin apogee
$GC,1122,-0.31,0.0,100.5,9.6,107,1227,0.95,0.00,98.62,0.742,6,0.124,0.000,2458,1982,3483
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1230,1.14,146.6,103.2,0.0,116,1351,1.52,0.00,113.32,0.728,6,0.100,0.000,2771,1982,2885
$GC,1540,1.14,146.6,74.9,12.0,141,1544,0.00,2.78,0.00,0.000,4,0.000,0.111,2771,588,2884
$GC,1585,1.14,146.6,69.2,12.2,144,1589,0.00,2.58,0.00,0.000,6,0.000,0.057,2771,2021,2884
$GC,1787,1.14,146.6,46.1,10.9,160,1791,0.00,2.85,0.00,0.000,4,0.000,0.109,2770,590,2884
$GC,1818,1.14,146.6,42.2,12.1,162,1826,0.00,2.58,0.00,0.000,6,0.000,0.057,2771,2005,2884
$GC,2014,1.14,146.6,21.0,10.4,178,2019,0.00,2.85,0.00,0.000,4,0.000,0.110,2771,590,2883
$GC,2073,1.14,146.6,14.5,10.8,186,2080,0.00,2.58,0.00,0.000,6,0.000,0.058,2771,2018,2883
$GC,2146,1.14,146.6,7.5,9.1,197,2152,0.00,2.58,0.00,0.000,4,0.000,0.074,2771,3415,2884
$GC,2158,1.15,153.3,6.6,8.1,199,2171,0.00,2.65,4.97,0.726,6,0.000,0.065,2771,1995,2858
$GC,2237,1.30,287.2,2.1,3.2,211,2245,0.15,0.00,4.97,0.729,2,0.065,0.000,2814,1994,2831
$STATE,2245,end climb,SURFACE_DEPTH_REACHED
$STATE,2246,begin surface coast
$FINISH,0.8,1.020695
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2318,begin surface
$SM_CCo,2339,177.02,0.657,0,0,1445,500.17
$SM_GC,1.41,0.00,0.00,177.02,0.000,0.000,0.657,39,2122,1445,-11.46,0.62,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2112
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,7.2
$ALTIM_BOTTOM_PING,50.7,7.8
$24V_AH,23.8,10.532
$10V_AH,10.2,2.905
$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,28.950,38.225,221.900,177.025,0.000,32.616,43.442,86.419,1.000,0.000,0.000,32.198,413.841,1220.481,530.282,383.692,254.607,33.347,782.484,0.000,368.143,0.000,6.956
$DEVICE_MAMPS,200.954,142.662,742.456,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,223
$CFSIZE,260034560,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,090032,4739.617,-12250.661,10,1.9,15,18.3