version: 66.02
glider: 22
mission: 2
dive: 101
start: 9 24 107 0 45 27
data:
$ID,22
$MISSION,2
$DIVE,101
$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,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,80
$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,450
$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,-110610.86
$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,12
$R_STBD_OVSHOOT,23
$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
$GPS1,004017,4739.599,-12252.730,11,2.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.6
$GPS2,004423,4739.608,-12252.710,16,2.1,35,18.3
$SPEED_LIMITS,0.144,0.182
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,-0.073
$KALMAN_X,17778.7,160.5,-49.7,-17546.3,203.2
$KALMAN_Y,4233.9,-39.4,39.8,-4388.9,92.0
$MHEAD_RNG_PITCHd_Wd,227.9,668,-21.9,-8.333
$D_GRID,122
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.45,-78.2,0.0,0.0,0,76,0.00,0.00,-49.83,0.000,2,0.000,0.000,41,2117,2741
$GC,79,-1.45,-78.2,2.1,-2.4,8,152,13.05,2.67,-50.75,0.000,4,0.207,0.098,2204,3503,3804
$GC,318,-1.45,-78.2,26.7,-12.8,41,324,0.00,2.65,0.00,0.000,6,0.000,0.077,2204,2097,3806
$GC,517,-1.45,-78.2,50.4,-11.9,57,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2097,3805
$GC,702,-1.45,-78.2,73.7,-12.4,72,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2097,3806
$GC,892,-1.45,-78.2,96.4,-11.6,87,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2097,3806
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,934,-0.31,0.0,100.5,11.0,90,1003,1.35,0.00,61.90,0.726,6,0.146,0.000,2457,1980,3484
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1005,1.45,78.2,102.7,0.0,96,1078,1.88,2.72,60.53,0.718,4,0.101,0.065,2839,3403,3165
$GC,1117,1.45,78.2,95.4,10.0,105,1121,0.00,2.60,0.00,0.000,6,0.000,0.061,2839,1995,3165
$GC,1319,1.45,78.2,74.5,10.1,121,1323,0.00,2.78,0.00,0.000,4,0.000,0.106,2839,582,3165
$GC,1575,1.45,78.2,48.6,9.4,140,1583,0.00,2.58,0.00,0.000,6,0.000,0.056,2839,2001,3165
$GC,1772,1.45,78.2,30.4,9.0,156,1776,0.00,2.80,0.00,0.000,4,0.000,0.104,2839,586,3165
$GC,2031,1.49,115.5,9.7,5.7,186,2068,0.00,2.55,28.67,0.686,6,0.000,0.057,2839,2011,3011
$GC,2134,1.53,144.9,3.6,6.2,202,2165,0.10,2.65,21.98,0.683,4,0.076,0.073,2864,3400,2892
$STATE,2169,end climb,SURFACE_DEPTH_REACHED
$STATE,2169,begin surface coast
$FINISH,0.7,1.020511
$STATE,2210,end surface coast,CONTROL_FINISHED_OK
$STATE,2210,begin surface
$SM_CCo,2234,156.85,0.639,0,0,1648,450.13
$SM_GC,1.50,0.00,0.00,156.85,0.000,0.000,0.639,40,2077,1648,-11.45,-0.65,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,19.80
$XPDR_PINGS,34
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,70.6,7.8
$24V_AH,23.8,17.562
$10V_AH,10.2,4.552
$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,29.750,26.650,173.075,156.850,0.000,32.593,32.947,83.067,9.750,0.000,0.000,36.764,400.030,1176.402,438.371,412.308,240.859,33.352,686.771,0.000,389.913,0.000,11.253
$DEVICE_MAMPS,207.090,105.846,726.349,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,214
$CFSIZE,260034560,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,012623,4739.591,-12252.938,11,2.7,30,18.3