version: 66.02
glider: 22
mission: 2
dive: 39
start: 9 21 107 21 50 11
data:
$ID,22
$MISSION,2
$DIVE,39
$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,-109010.77
$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,17
$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
$GPS1,214437,4739.928,-12249.921,8,1.4,24,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.2
$GPS2,214902,4739.937,-12249.857,10,1.6,10,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.193
$KALMAN_X,3991.2,218.0,-158.6,-148.2,80.7
$KALMAN_Y,2247.9,-31.4,-93.9,-1669.3,-20.2
$MHEAD_RNG_PITCHd_Wd,19.3,1493,-15.7,-8.333
$D_GRID,86
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-67.57,0.000,2,0.000,0.000,37,2110,2905
$GC,95,-1.14,-146.6,2.2,-2.6,11,157,13.38,2.97,-41.40,0.000,4,0.202,0.140,2273,682,3994
$GC,373,-1.14,-146.6,28.1,-10.7,48,381,0.00,2.67,0.00,0.000,6,0.000,0.075,2273,2096,3996
$GC,569,-1.14,-146.6,47.1,-9.2,64,574,0.00,2.70,0.00,0.000,4,0.000,0.089,2273,3517,3996
$GC,615,-1.14,-146.6,52.1,-11.4,67,622,0.00,2.72,0.00,0.000,6,0.000,0.082,2273,2088,3996
$GC,810,-1.14,-146.6,71.4,-11.1,83,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2088,3996
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,952,-0.31,0.0,87.0,11.3,94,1059,0.95,0.00,98.20,0.723,6,0.129,0.000,2456,1986,3483
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1061,1.14,146.6,91.5,0.0,103,1182,1.55,0.00,113.40,0.709,6,0.100,0.000,2774,1985,2885
$GC,1372,1.14,146.6,63.6,11.3,128,1377,0.00,2.80,0.00,0.000,4,0.000,0.111,2774,583,2884
$GC,1430,1.14,146.6,57.5,10.6,132,1435,0.00,2.60,0.00,0.000,6,0.000,0.057,2774,2023,2884
$GC,1632,1.14,146.6,33.3,12.2,148,1637,0.00,2.92,0.00,0.000,4,0.000,0.115,2774,588,2884
$GC,1663,1.14,146.6,29.5,11.8,150,1672,0.00,2.58,0.00,0.000,6,0.000,0.058,2774,1998,2883
$GC,1865,1.14,146.6,8.0,10.0,174,1871,0.00,2.60,0.00,0.000,4,0.000,0.071,2774,3416,2884
$GC,1890,1.14,146.6,5.9,8.4,178,1897,0.00,2.62,0.00,0.000,6,0.000,0.065,2774,1994,2883
$GC,1962,1.35,338.2,4.3,1.0,189,2049,0.22,0.00,83.28,0.671,2,0.059,0.000,2828,1994,2437
$STATE,2050,end climb,SURFACE_DEPTH_REACHED
$STATE,2050,begin surface coast
$FINISH,0.5,1.016120
$STATE,2088,end surface coast,CONTROL_FINISHED_OK
$STATE,2088,begin surface
$SM_CCo,2109,116.15,0.644,0,0,1445,500.17
$SM_GC,1.33,0.00,0.00,116.15,0.000,0.000,0.644,38,2106,1445,-11.46,0.17,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2097
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,8.1
$ALTIM_BOTTOM_PING,50.7,7.1
$24V_AH,23.8,11.978
$10V_AH,10.2,3.240
$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,28.900,27.600,294.875,116.150,0.000,32.586,39.333,104.128,1.250,0.000,0.000,11.041,366.130,1022.089,504.655,351.497,279.863,33.342,755.244,0.000,357.930,0.000,7.870
$DEVICE_MAMPS,202.488,139.594,722.514,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6432,209
$CFSIZE,260034560,256053248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,222823,4740.115,-12249.527,14,5.3,33,18.3