version: 66.02
glider: 22
mission: 2
dive: 29
start: 9 21 107 13 8 24
data:
$ID,22
$MISSION,2
$DIVE,29
$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,-108770.89
$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,15
$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
$GPS1,130223,4739.431,-12251.110,14,5.0,33,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.6
$GPS2,130717,4739.437,-12251.059,12,4.8,31,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.210,-0.123
$KALMAN_X,2505.4,319.1,252.3,-674.8,245.9
$KALMAN_Y,2422.8,127.6,21.5,-3045.3,116.3
$MHEAD_RNG_PITCHd_Wd,221.4,1427,-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,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,-67.97,0.000,2,0.000,0.000,39,2104,2921
$GC,96,-1.14,-146.6,2.5,-4.4,11,157,13.35,0.00,-42.03,0.000,6,0.202,0.000,2274,2101,3995
$GC,222,-1.14,-146.6,12.4,-10.6,31,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2101,3997
$GC,293,-1.14,-146.6,19.6,-10.2,42,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2101,3997
$GC,362,-1.14,-146.6,27.4,-11.4,48,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2101,3997
$GC,552,-1.14,-146.6,46.2,-9.1,63,556,0.00,2.67,0.00,0.000,4,0.000,0.086,2274,3515,3998
$GC,575,-1.14,-146.6,48.6,-9.2,64,584,0.00,2.72,0.00,0.000,6,0.000,0.081,2274,2101,3999
$GC,772,-1.14,-146.6,66.7,-9.8,80,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2100,3999
$GC,964,-1.14,-146.6,86.4,-10.9,95,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2100,3999
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1103,-0.31,0.0,100.3,9.8,106,1210,0.95,0.00,98.65,0.734,6,0.125,0.000,2459,1981,3484
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1212,1.14,146.6,103.2,0.0,115,1336,1.52,2.83,113.20,0.719,4,0.101,0.113,2771,586,2885
$GC,1393,1.14,146.6,90.0,12.2,129,1401,0.00,2.62,0.00,0.000,6,0.000,0.058,2771,2015,2884
$GC,1589,1.14,146.6,66.4,12.1,145,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2015,2885
$GC,1780,1.14,146.6,43.7,11.4,160,1784,0.00,2.90,0.00,0.000,4,0.000,0.115,2771,580,2885
$GC,1853,1.14,146.6,35.2,12.0,165,1857,0.00,2.58,0.00,0.000,6,0.000,0.058,2771,2006,2884
$GC,2052,1.14,146.6,12.3,12.0,185,2058,0.00,2.85,0.00,0.000,4,0.000,0.115,2771,591,2884
$GC,2084,1.14,146.6,8.5,11.5,190,2091,0.00,2.58,0.00,0.000,6,0.000,0.059,2771,2014,2884
$GC,2156,1.26,258.6,3.9,4.1,201,2206,0.15,0.00,47.38,0.681,2,0.064,0.000,2810,2014,2630
$STATE,2207,end climb,SURFACE_DEPTH_REACHED
$STATE,2207,begin surface coast
$FINISH,0.6,1.014171
$STATE,2251,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2272,144.48,0.647,0,0,1444,500.17
$SM_GC,1.46,0.00,0.00,144.48,0.000,0.000,0.647,38,2105,1444,-11.46,0.14,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2115
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,7.8
$ALTIM_BOTTOM_PING,50.3,7.1
$24V_AH,23.8,11.074
$10V_AH,10.2,3.028
$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,28.750,22.100,259.225,144.475,0.000,32.607,46.033,106.223,0.750,0.000,0.000,32.014,391.110,1175.221,503.772,382.700,291.444,33.349,758.760,0.000,367.179,0.000,6.954
$DEVICE_MAMPS,201.721,115.050,734.019,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,216
$CFSIZE,260034560,256299008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,134955,4739.345,-12251.274,25,0.9,42,18.3