version: 66.02
glider: 22
mission: 2
dive: 104
start: 9 24 107 3 2 12
data:
$ID,22
$MISSION,2
$DIVE,104
$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,-110713.77
$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,13
$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
$GPS1,025723,4739.547,-12252.938,13,2.7,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.7
$GPS2,030107,4739.561,-12252.927,13,1.3,29,18.3
$SPEED_LIMITS,0.144,0.182
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,0.031
$KALMAN_X,17670.7,77.7,213.2,-17886.1,-46.6
$KALMAN_Y,4435.4,-9.0,97.0,-4763.5,61.1
$MHEAD_RNG_PITCHd_Wd,61.8,5196,-21.9,-8.333
$D_GRID,120
$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,23,-1.45,-78.2,0.0,0.0,0,81,0.00,0.00,-55.70,0.000,2,0.000,0.000,41,2114,2861
$GC,84,-1.45,-78.2,2.2,-3.0,9,146,13.02,2.95,-42.00,0.000,4,0.206,0.136,2204,683,3803
$GC,383,-1.45,-78.2,37.2,-13.6,46,387,0.00,2.67,0.00,0.000,6,0.000,0.077,2204,2106,3804
$GC,585,-1.45,-78.2,62.4,-12.6,62,589,0.00,2.72,0.00,0.000,4,0.000,0.097,2204,3520,3804
$GC,669,-1.45,-78.2,74.1,-13.9,68,677,0.00,2.75,0.00,0.000,6,0.000,0.085,2204,2103,3805
$GC,865,-1.45,-78.2,100.0,-13.7,84,870,0.00,2.75,0.00,0.000,4,0.000,0.097,2204,3516,3805
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,884,-0.31,0.0,101.7,13.5,85,952,1.33,0.00,61.67,0.736,6,0.152,0.000,2452,1988,3484
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,955,1.45,78.2,105.3,0.0,91,1020,1.90,0.00,60.88,0.728,6,0.099,0.000,2839,1984,3165
$GC,1210,1.45,78.2,87.2,9.0,111,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1984,3165
$GC,1400,1.45,78.2,68.8,10.2,126,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3165
$GC,1589,1.45,78.2,50.7,9.5,141,1594,0.00,2.75,0.00,0.000,4,0.000,0.104,2839,580,3165
$GC,1647,1.45,78.2,45.0,9.9,145,1652,0.00,2.58,0.00,0.000,6,0.000,0.056,2840,2017,3165
$GC,1849,1.46,85.9,28.3,7.8,161,1863,0.00,2.58,5.97,0.740,4,0.000,0.069,2840,3410,3133
$GC,1920,1.46,85.9,21.8,9.7,166,1928,0.00,2.62,0.00,0.000,6,0.000,0.061,2840,1995,3133
$GC,2126,1.51,129.5,6.9,5.2,195,2168,0.00,2.90,32.85,0.688,4,0.000,0.108,2839,580,2955
$GC,2208,1.55,168.9,2.4,5.5,208,2228,0.12,2.60,14.25,0.692,2,0.071,0.062,2870,2000,2877
$STATE,2229,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,2.0,1.020751
$STATE,2282,end surface coast,CONTROL_FINISHED_OK
$STATE,2282,begin surface
$SM_CCo,2303,153.70,0.641,0,0,1648,450.13
$SM_GC,1.51,0.00,0.00,153.70,0.000,0.000,0.641,38,2109,1648,-11.46,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2117
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.8,8.7
$ALTIM_BOTTOM_PING,51.2,7.0
$24V_AH,23.8,17.777
$10V_AH,10.2,4.610
$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,29.800,33.025,175.625,153.700,0.000,32.577,30.231,72.074,2.000,0.000,0.000,29.261,411.017,1241.910,433.934,397.158,228.623,33.358,684.071,0.000,386.432,0.000,6.951
$DEVICE_MAMPS,205.556,135.759,740.155,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,219
$CFSIZE,260034560,254459904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,034356,4739.660,-12252.616,9,1.7,14,18.3