version: 66.02
glider: 22
mission: 2
dive: 500
start: 10 10 107 10 46 3
data:
$ID,22
$MISSION,2
$DIVE,500
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,30
$T_MISSION,80
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,693.21777
$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,-150131.08
$T_RSLEEP,2
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,10
$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,0
$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,0
$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
$GPS1,014723,4740.836,-12250.428,219,4.3,238,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.5
$GPS2,104458,4741.149,-12249.680,314,3.3,333,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.239,-0.057
$KALMAN_X,1427.2,787.2,273.0,1762.4,78.7
$KALMAN_Y,-10961.8,11.9,12.7,14032.7,54.9
$MHEAD_RNG_PITCHd_Wd,238.3,2878,-20.8,-10.556
$D_GRID,77
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.44,-127.1,0.0,0.0,0,157,0.00,0.00,-122.97,0.000,2,0.000,0.000,36,2210,3097
$GC,161,-1.44,-127.1,2.2,-3.8,20,217,12.73,2.92,-35.60,0.000,4,0.198,0.137,2206,777,3996
$GC,369,-1.44,-127.1,28.9,-14.7,48,373,0.00,2.80,0.00,0.000,6,0.000,0.100,2207,2209,3996
$GC,439,-1.44,-127.1,38.9,-14.4,53,444,0.00,2.85,0.00,0.000,4,0.000,0.143,2207,3565,3997
$GC,472,-1.44,-127.1,44.3,-16.5,55,477,0.00,2.72,0.00,0.000,6,0.000,0.103,2206,2189,3996
$GC,543,-1.44,-127.1,54.6,-14.3,60,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2189,3996
$GC,605,-1.44,-127.1,63.3,-13.4,65,610,0.00,2.88,0.00,0.000,4,0.000,0.137,2206,3561,3996
$GC,684,-1.44,-127.1,75.6,-15.2,70,690,0.00,2.72,0.00,0.000,6,0.000,0.105,2206,2187,3996
$STATE,700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,701,begin apogee
$GC,708,-0.31,0.0,78.5,15.1,72,812,1.33,0.00,98.15,0.716,6,0.150,0.000,2455,2032,3484
$STATE,813,end apogee,CONTROL_FINISHED_OK
$STATE,813,begin climb
$GC,817,1.44,127.1,84.1,0.0,81,925,1.88,2.90,98.60,0.706,4,0.103,0.117,2837,636,2964
$GC,1060,1.44,127.1,64.2,14.1,100,1066,0.00,2.65,0.00,0.000,6,0.000,0.071,2837,2069,2965
$GC,1129,1.44,127.1,54.8,13.4,106,1134,0.00,2.72,0.00,0.000,4,0.000,0.102,2837,3467,2964
$GC,1221,1.44,127.1,41.0,15.4,112,1228,0.00,2.70,0.00,0.000,6,0.000,0.080,2837,2043,2963
$GC,1292,1.44,127.1,31.8,12.9,118,1296,0.00,2.83,0.00,0.000,4,0.000,0.120,2837,633,2964
$GC,1325,1.44,127.1,27.6,13.3,120,1329,0.00,2.65,0.00,0.000,6,0.000,0.071,2837,2065,2964
$GC,1394,1.44,127.1,18.8,13.0,125,1401,0.00,2.90,0.00,0.000,4,0.000,0.115,2837,624,2964
$GC,1477,1.47,157.9,10.2,8.8,137,1507,0.00,2.65,23.12,0.676,6,0.000,0.073,2837,2055,2839
$STATE,1564,end climb,SURFACE_DEPTH_REACHED
$STATE,1564,begin surface coast
$FINISH,0.4,1.011284
$STATE,1585,end surface coast,CONTROL_FINISHED_OK
$STATE,1585,begin surface
$SM_CCo,1610,264.12,0.619,0,0,658,693.22
$SM_GC,1.13,0.00,0.00,264.12,0.000,0.000,0.619,35,2213,658,-11.47,0.40,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2022
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,51.0,7.1
$24V_AH,23.8,54.843
$10V_AH,10.2,15.254
$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,28.550,39.500,219.875,264.125,0.000,163.053,320.318,218.609,0.750,0.000,0.000,334.439,290.183,866.025,623.988,627.435,918.008,33.356,862.086,0.000,309.449,0.000,5.348
$DEVICE_MAMPS,197.886,142.662,715.611,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3308,154
$CFSIZE,260034560,244342784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,104458,4741.149,-12249.680,314,3.3,333,18.3