version: 66.02
glider: 22
mission: 2
dive: 105
start: 9 24 107 3 48 50
data:
$ID,22
$MISSION,2
$DIVE,105
$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,70
$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,-110746.95
$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,20
$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
$GPS1,034356,4739.660,-12252.616,9,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.9
$GPS2,034744,4739.695,-12252.592,15,1.7,32,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,0.029
$KALMAN_X,17692.1,26.2,225.0,-17453.3,-91.2
$KALMAN_Y,4572.9,15.0,97.4,-4682.2,34.5
$MHEAD_RNG_PITCHd_Wd,61.9,4721,-23.4,-8.333
$D_GRID,123
$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,-1.54,-68.4,0.0,0.0,0,75,0.00,0.00,-49.38,0.000,2,0.000,0.000,38,2110,2731
$GC,78,-1.54,-68.4,2.1,-2.5,8,151,12.95,2.70,-50.50,0.000,4,0.206,0.096,2186,3513,3763
$GC,355,-1.54,-68.4,32.0,-13.2,44,363,0.00,2.70,0.00,0.000,6,0.000,0.077,2186,2103,3764
$GC,551,-1.54,-68.4,56.9,-13.1,60,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2103,3766
$GC,741,-1.54,-68.4,82.9,-14.0,75,746,0.00,2.72,0.00,0.000,4,0.000,0.092,2185,3511,3765
$GC,815,-1.54,-68.4,93.7,-15.4,80,819,0.00,2.72,0.00,0.000,6,0.000,0.084,2186,2088,3766
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,861,-0.31,0.0,100.1,14.3,83,920,1.48,0.00,54.58,0.733,6,0.152,0.000,2459,1987,3483
$STATE,921,end apogee,CONTROL_FINISHED_OK
$STATE,921,begin climb
$GC,923,1.54,68.4,102.5,0.0,88,983,1.95,0.00,53.15,0.726,6,0.098,0.000,2858,1986,3204
$GC,1171,1.54,68.4,84.2,9.1,108,1176,0.00,2.62,0.00,0.000,4,0.000,0.064,2858,3420,3204
$GC,1237,1.54,68.4,78.1,10.2,113,1241,0.00,2.60,0.00,0.000,6,0.000,0.057,2858,1995,3204
$GC,1439,1.54,68.4,59.6,9.3,129,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1994,3204
$GC,1631,1.54,68.4,42.8,8.5,144,1635,0.00,2.75,0.00,0.000,4,0.000,0.104,2858,582,3204
$GC,1708,1.54,68.4,36.0,8.5,149,1716,0.00,2.58,0.00,0.000,6,0.000,0.054,2858,2006,3204
$GC,1904,1.55,81.5,20.9,7.3,165,1921,0.00,2.62,9.90,0.725,4,0.000,0.065,2858,3405,3150
$GC,1942,1.56,85.4,17.9,8.0,169,1950,0.00,2.58,2.80,0.767,6,0.000,0.058,2858,1997,3134
$GC,2016,1.57,98.2,11.8,7.3,180,2035,0.00,2.83,9.48,0.718,4,0.000,0.104,2858,588,3082
$GC,2147,1.64,157.8,4.0,3.5,200,2202,0.12,2.58,45.25,0.680,6,0.072,0.060,2890,2013,2839
$GC,2267,1.74,250.2,3.2,0.8,219,2336,0.00,0.70,64.85,0.658,3,0.000,0.067,2890,2399,2463
$STATE,2337,end climb,SURFACE_DEPTH_REACHED
$STATE,2337,begin surface coast
$FINISH,0.7,1.020252
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2416,95.20,0.640,0,0,1648,450.13
$SM_GC,1.54,0.00,0.00,95.20,0.000,0.000,0.640,40,2082,1648,-11.45,-0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2105
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.7,7.1
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,17.849
$10V_AH,10.2,4.629
$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,29.625,33.475,240.000,95.200,0.000,32.579,32.347,72.186,2.000,0.000,0.000,32.562,427.131,1255.017,435.347,422.089,232.316,33.358,706.901,0.000,408.718,0.000,6.953
$DEVICE_MAMPS,206.323,103.545,767.000,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,239
$CFSIZE,260034560,254431232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,043127,4739.782,-12252.251,13,2.0,13,18.3