version: 66.02
glider: 22
mission: 2
dive: 33
start: 9 21 107 16 17 15
data:
$ID,22
$MISSION,2
$DIVE,33
$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,-108865.06
$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,20
$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
$GPS1,161223,4738.978,-12251.992,12,5.4,31,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.1
$GPS2,161607,4738.988,-12251.973,14,1.3,30,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.151
$KALMAN_X,3265.8,432.4,106.0,-2541.8,58.5
$KALMAN_Y,2722.5,179.8,-26.6,-4178.8,29.2
$MHEAD_RNG_PITCHd_Wd,33.5,4646,-15.7,-8.333
$D_GRID,127
$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,23,-1.14,-146.6,0.0,0.0,0,92,0.00,0.00,-67.57,0.000,2,0.000,0.000,36,2084,2916
$GC,95,-1.14,-146.6,2.4,-3.6,11,157,13.43,2.90,-41.50,0.000,4,0.204,0.141,2271,686,3995
$GC,407,-1.14,-146.6,31.1,-10.3,51,411,0.00,2.65,0.00,0.000,6,0.000,0.077,2272,2099,3996
$GC,612,-1.14,-146.6,51.1,-10.2,67,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2100,3998
$GC,799,-1.14,-146.6,70.4,-10.0,82,803,0.00,2.70,0.00,0.000,4,0.000,0.088,2272,3522,3998
$GC,836,-1.14,-146.6,74.5,-11.4,84,844,0.00,2.75,0.00,0.000,6,0.000,0.084,2272,2100,3998
$GC,1033,-1.14,-146.6,94.1,-9.8,100,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2100,3998
$STATE,1094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1094,begin apogee
$GC,1099,-0.31,0.0,100.4,9.8,105,1205,0.98,0.00,98.25,0.732,6,0.130,0.000,2459,1981,3484
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1208,1.14,146.6,103.1,0.0,114,1326,1.58,0.00,113.57,0.716,6,0.104,0.000,2775,1981,2885
$GC,1514,1.14,146.6,75.2,11.6,139,1518,0.00,2.78,0.00,0.000,4,0.000,0.113,2775,591,2884
$GC,1572,1.14,146.6,68.0,11.8,143,1577,0.00,2.58,0.00,0.000,6,0.000,0.058,2773,2017,2884
$GC,1774,1.14,146.6,44.8,11.6,159,1779,0.00,2.90,0.00,0.000,4,0.000,0.114,2775,594,2884
$GC,1806,1.14,146.6,41.0,11.4,161,1814,0.00,2.58,0.00,0.000,6,0.000,0.058,2775,2001,2884
$GC,2002,1.14,146.6,20.0,10.7,177,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2001,2884
$GC,2074,1.14,146.6,12.3,10.4,188,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2001,2884
$GC,2145,1.21,211.9,6.1,5.9,199,2200,0.00,0.00,49.55,0.677,6,0.000,0.000,2775,2001,2619
$STATE,2243,end climb,SURFACE_DEPTH_REACHED
$STATE,2243,begin surface coast
$FINISH,0.6,1.011584
$STATE,2284,end surface coast,CONTROL_FINISHED_OK
$STATE,2284,begin surface
$SM_CCo,2305,148.23,0.646,0,0,1445,500.17
$SM_GC,1.43,0.00,0.00,148.23,0.000,0.000,0.646,40,2106,1445,-11.45,0.14,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2110
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,8.2
$ALTIM_BOTTOM_PING,51.1,7.9
$24V_AH,23.8,11.432
$10V_AH,10.2,3.108
$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,28.525,22.200,261.375,148.225,0.000,32.599,31.765,73.861,0.750,0.000,0.000,30.614,391.716,1198.619,518.237,381.146,223.090,33.338,763.680,0.000,370.008,0.000,6.955
$DEVICE_MAMPS,204.022,141.128,731.718,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,221
$CFSIZE,260034560,256208896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,165851,4739.136,-12251.658,10,2.0,10,18.3