version: 66.02
glider: 22
mission: 2
dive: 103
start: 9 24 107 2 16 22
data:
$ID,22
$MISSION,2
$DIVE,103
$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,-110683.88
$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,8
$R_STBD_OVSHOOT,19
$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
$GPS1,021123,4739.537,-12253.206,9,5.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.1
$GPS2,021517,4739.544,-12253.213,14,3.4,33,18.3
$SPEED_LIMITS,0.144,0.182
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,0.024
$KALMAN_X,17770.9,114.6,145.9,-18312.8,59.0
$KALMAN_Y,4486.8,-23.7,77.5,-4814.9,107.9
$MHEAD_RNG_PITCHd_Wd,64.1,5544,-21.9,-8.333
$D_GRID,116
$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,24,-1.45,-78.2,0.0,0.0,0,81,0.00,0.00,-55.58,0.000,2,0.000,0.000,41,2106,2865
$GC,84,-1.45,-78.2,2.4,-3.5,9,151,13.02,2.72,-45.45,0.000,4,0.206,0.100,2205,3511,3804
$GC,290,-1.45,-78.2,24.0,-14.6,39,294,0.00,2.70,0.00,0.000,6,0.000,0.081,2205,2092,3805
$GC,484,-1.45,-78.2,49.3,-11.5,54,489,0.00,2.75,0.00,0.000,4,0.000,0.091,2205,3514,3805
$GC,564,-1.45,-78.2,59.5,-13.0,60,568,0.00,2.72,0.00,0.000,6,0.000,0.083,2205,2088,3806
$GC,766,-1.45,-78.2,86.4,-13.0,76,770,0.00,2.78,0.00,0.000,4,0.000,0.095,2205,3513,3806
$GC,858,-1.45,-78.2,99.2,-14.2,83,862,0.00,2.72,0.00,0.000,6,0.000,0.084,2205,2088,3806
$STATE,869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,869,begin apogee
$GC,874,-0.31,0.0,100.8,13.9,84,944,1.35,0.00,62.15,0.728,6,0.147,0.000,2457,1990,3483
$STATE,945,end apogee,CONTROL_FINISHED_OK
$STATE,945,begin climb
$GC,947,1.45,78.2,103.8,0.0,90,1012,1.90,0.00,60.62,0.725,6,0.107,0.000,2840,1989,3165
$GC,1196,1.45,78.2,85.2,9.6,110,1200,0.00,2.62,0.00,0.000,4,0.000,0.067,2840,3416,3165
$GC,1286,1.45,78.2,76.0,9.6,116,1294,0.00,2.62,0.00,0.000,6,0.000,0.059,2840,1999,3165
$GC,1483,1.45,78.2,58.0,9.2,132,1487,0.00,2.80,0.00,0.000,4,0.000,0.109,2840,580,3165
$GC,1547,1.45,78.2,51.3,10.3,136,1555,0.00,2.60,0.00,0.000,6,0.000,0.058,2840,2009,3165
$GC,1743,1.45,78.2,33.7,8.6,152,1748,0.00,2.58,0.00,0.000,4,0.000,0.070,2840,3416,3164
$GC,1835,1.45,78.2,25.2,9.4,159,1840,0.00,2.60,0.00,0.000,6,0.000,0.058,2840,1986,3165
$GC,2037,1.51,131.5,10.9,4.5,184,2087,0.00,2.85,40.80,0.686,4,0.000,0.109,2840,589,2946
$GC,2145,1.51,131.5,3.6,10.7,201,2152,0.00,2.58,0.00,0.000,6,0.000,0.060,2842,2004,2947
$STATE,2169,end climb,SURFACE_DEPTH_REACHED
$STATE,2169,begin surface coast
$FINISH,1.3,1.020841
$STATE,2204,end surface coast,CONTROL_FINISHED_OK
$STATE,2204,begin surface
$SM_CCo,2225,170.60,0.640,0,0,1648,450.13
$SM_GC,1.44,0.00,0.00,170.60,0.000,0.000,0.640,42,2113,1648,-11.45,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2098
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,10.0,7.4
$ALTIM_BOTTOM_PING,50.8,7.9
$24V_AH,23.8,17.705
$10V_AH,10.2,4.591
$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,29.500,38.000,163.575,170.600,0.000,32.579,34.452,71.889,1.750,0.000,0.000,34.633,400.056,1180.231,449.578,400.407,230.982,33.355,700.969,0.000,385.432,0.000,6.969
$DEVICE_MAMPS,205.556,108.914,727.883,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,210
$CFSIZE,260034560,254484480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,025723,4739.547,-12252.938,13,2.7,32,18.3