version: 66.02
glider: 22
mission: 2
dive: 25
start: 9 21 107 9 55 36
data:
$ID,22
$MISSION,2
$DIVE,25
$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,-108673.35
$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,10
$R_STBD_OVSHOOT,24
$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
$GPS1,095026,4739.574,-12250.715,11,1.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.6
$GPS2,095429,4739.589,-12250.672,10,2.5,29,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.095
$KALMAN_X,1312.9,110.9,39.1,1418.7,298.7
$KALMAN_Y,1685.3,80.2,148.4,-2107.0,69.4
$MHEAD_RNG_PITCHd_Wd,228.8,1984,-15.7,-8.333
$D_GRID,114
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.95,0.000,2,0.000,0.000,39,2091,2783
$GC,90,-1.14,-146.6,2.1,-2.9,10,163,13.35,2.95,-50.72,0.000,4,0.202,0.140,2274,685,3996
$GC,183,-1.14,-146.6,7.3,-11.8,25,190,0.00,2.65,0.00,0.000,6,0.000,0.076,2274,2100,3996
$GC,255,-1.14,-146.6,15.1,-10.4,36,262,0.00,2.67,0.00,0.000,4,0.000,0.084,2275,3525,3997
$GC,287,-1.14,-146.6,18.4,-11.0,41,294,0.00,2.70,0.00,0.000,6,0.000,0.077,2274,2094,3997
$GC,356,-1.14,-146.6,25.2,-9.6,48,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2095,3998
$GC,546,-1.14,-146.6,44.2,-9.8,63,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2095,4000
$GC,735,-1.14,-146.6,62.8,-9.5,78,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2095,3999
$GC,925,-1.14,-146.6,80.3,-9.2,93,929,0.00,2.72,0.00,0.000,4,0.000,0.085,2275,3518,3999
$GC,962,-1.14,-146.6,84.3,-10.1,95,970,0.00,2.72,0.00,0.000,6,0.000,0.080,2275,2098,3999
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1137,-0.31,0.0,101.0,10.0,109,1243,0.95,0.00,98.68,0.741,6,0.124,0.000,2460,1980,3483
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1246,1.14,146.6,104.1,0.0,118,1369,1.52,2.83,113.40,0.722,4,0.098,0.110,2773,585,2885
$GC,1394,1.14,146.6,95.4,11.2,130,1399,0.00,2.60,0.00,0.000,6,0.000,0.058,2773,2013,2884
$GC,1596,1.14,146.6,72.5,11.0,146,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2013,2884
$GC,1788,1.14,146.6,50.9,11.7,161,1793,0.00,2.85,0.00,0.000,4,0.000,0.110,2773,588,2884
$GC,1833,1.14,146.6,45.2,12.6,164,1837,0.00,2.55,0.00,0.000,6,0.000,0.057,2773,2006,2884
$GC,2035,1.14,146.6,23.8,10.6,180,2039,0.00,2.85,0.00,0.000,4,0.000,0.111,2773,585,2884
$GC,2074,1.14,146.6,19.4,11.2,183,2081,0.00,2.58,0.00,0.000,6,0.000,0.057,2774,2015,2884
$GC,2146,1.14,146.6,11.8,9.8,194,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2015,2884
$GC,2217,1.21,207.3,6.3,6.0,205,2272,0.00,3.00,45.92,0.683,4,0.000,0.117,2773,588,2638
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,0.6,1.020843
$STATE,2331,end surface coast,CONTROL_FINISHED_OK
$STATE,2331,begin surface
$SM_CCo,2353,149.32,0.653,0,0,1445,500.17
$SM_GC,1.33,0.00,0.00,149.32,0.000,0.000,0.653,38,2108,1445,-11.46,0.23,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2109
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,7.7
$ALTIM_BOTTOM_PING,50.4,7.7
$24V_AH,23.8,10.716
$10V_AH,10.2,2.947
$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,28.375,38.700,258.000,149.325,0.000,32.603,35.794,85.988,0.750,0.000,0.000,30.534,399.659,1220.581,522.055,389.954,247.018,33.349,785.961,0.000,375.685,0.000,6.956
$DEVICE_MAMPS,201.721,139.594,740.922,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,223
$CFSIZE,260034560,256397312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,103826,4739.530,-12250.814,34,2.0,34,18.3