version: 66.02
glider: 22
mission: 2
dive: 28
start: 9 21 107 12 20 11
data:
$ID,22
$MISSION,2
$DIVE,28
$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,-108738.25
$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,14
$R_STBD_OVSHOOT,22
$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
$GPS1,121453,4739.443,-12250.960,13,3.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.2
$GPS2,121903,4739.493,-12250.927,34,1.9,34,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,-0.113
$KALMAN_X,2233.0,270.2,225.3,-162.5,277.3
$KALMAN_Y,2243.7,111.1,52.2,-2778.0,107.8
$MHEAD_RNG_PITCHd_Wd,224.0,1620,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.14,-146.6,0.0,0.0,0,86,0.00,0.00,-61.88,0.000,2,0.000,0.000,38,2115,2783
$GC,89,-1.14,-146.6,2.0,-2.5,10,163,13.35,2.97,-52.30,0.000,4,0.202,0.140,2272,686,3997
$GC,209,-1.14,-146.6,10.3,-11.5,29,216,0.00,2.65,0.00,0.000,6,0.000,0.075,2272,2098,3997
$GC,281,-1.14,-146.6,17.8,-10.1,40,287,0.00,2.67,0.00,0.000,4,0.000,0.084,2272,3516,3998
$GC,306,-1.14,-146.6,20.3,-10.1,44,311,0.00,2.70,0.00,0.000,6,0.000,0.080,2272,2096,3998
$GC,508,-1.14,-146.6,39.9,-10.1,60,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2096,3999
$GC,697,-1.14,-146.6,60.1,-10.9,75,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2096,3999
$GC,887,-1.14,-146.6,79.3,-9.8,90,892,0.00,2.72,0.00,0.000,4,0.000,0.085,2272,3524,3999
$GC,919,-1.14,-146.6,82.7,-11.1,92,924,0.00,2.72,0.00,0.000,6,0.000,0.082,2273,2094,4000
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1112,-0.31,0.0,101.1,9.4,107,1218,0.95,0.00,98.65,0.736,6,0.126,0.000,2457,1977,3483
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1221,1.14,146.6,103.5,0.0,116,1344,1.52,2.83,113.15,0.719,4,0.097,0.112,2771,588,2885
$GC,1375,1.14,146.6,92.7,12.0,128,1383,0.00,2.62,0.00,0.000,6,0.000,0.057,2771,2014,2884
$GC,1571,1.14,146.6,69.4,11.2,144,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2013,2884
$GC,1762,1.14,146.6,48.7,10.6,159,1766,0.00,2.88,0.00,0.000,4,0.000,0.114,2771,586,2884
$GC,1833,1.14,146.6,40.2,12.2,164,1837,0.00,2.58,0.00,0.000,6,0.000,0.057,2771,2015,2884
$GC,2029,1.14,146.6,18.0,12.0,180,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2015,2884
$GC,2100,1.14,146.6,10.1,10.9,191,2111,0.00,2.88,0.00,0.000,4,0.000,0.115,2771,590,2884
$GC,2123,1.14,146.6,8.0,9.5,194,2130,0.00,2.58,0.00,0.000,6,0.000,0.060,2772,2011,2883
$GC,2195,1.27,262.9,3.9,3.9,205,2251,0.15,0.00,53.42,0.676,2,0.065,0.000,2811,2011,2599
$STATE,2252,end climb,SURFACE_DEPTH_REACHED
$STATE,2252,begin surface coast
$FINISH,0.6,1.020412
$STATE,2305,end surface coast,CONTROL_FINISHED_OK
$STATE,2305,begin surface
$SM_CCo,2326,139.85,0.647,0,0,1445,500.17
$SM_GC,1.36,0.00,0.00,139.85,0.000,0.000,0.647,38,2102,1445,-11.46,0.06,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2105
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,8.3
$ALTIM_BOTTOM_PING,50.4,7.3
$24V_AH,23.8,10.985
$10V_AH,10.2,3.008
$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,28.725,33.150,265.225,139.850,0.000,32.596,40.892,83.140,0.750,0.000,0.000,34.227,397.098,1197.907,513.326,392.218,249.641,33.358,777.960,0.000,375.147,0.000,6.967
$DEVICE_MAMPS,201.721,139.594,735.553,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6421,222
$CFSIZE,260034560,256323584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,130223,4739.431,-12251.110,14,5.0,33,18.3