version: 66.02
glider: 22
mission: 2
dive: 106
start: 9 24 107 4 36 23
data:
$ID,22
$MISSION,2
$DIVE,106
$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,-110779.16
$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,21
$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
$GPS1,043127,4739.782,-12252.251,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.1
$GPS2,043517,4739.819,-12252.227,11,5.4,30,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.015
$KALMAN_X,17834.9,-33.0,182.3,-17040.6,-55.9
$KALMAN_Y,4756.5,20.8,60.8,-4604.7,74.9
$MHEAD_RNG_PITCHd_Wd,66.7,4217,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.54,-68.4,0.0,0.0,0,75,0.00,0.00,-49.53,0.000,2,0.000,0.000,40,2084,2741
$GC,78,-1.54,-68.4,2.2,-2.7,8,145,12.90,2.75,-44.70,0.000,4,0.205,0.098,2187,3502,3764
$GC,323,-1.54,-68.4,27.5,-13.8,43,327,0.00,2.67,0.00,0.000,6,0.000,0.081,2186,2100,3765
$GC,525,-1.54,-68.4,53.2,-13.5,59,529,0.00,2.88,0.00,0.000,4,0.000,0.123,2186,677,3765
$GC,550,-1.54,-68.4,56.8,-13.9,61,555,0.00,2.67,0.00,0.000,6,0.000,0.079,2186,2096,3766
$GC,753,-1.54,-68.4,84.4,-14.0,77,757,0.00,2.75,0.00,0.000,4,0.000,0.099,2186,3517,3765
$GC,810,-1.54,-68.4,93.1,-14.7,81,818,0.00,2.75,0.00,0.000,6,0.000,0.087,2186,2102,3766
$STATE,866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,866,begin apogee
$GC,871,-0.31,0.0,101.1,14.2,86,930,1.45,0.00,54.42,0.732,6,0.146,0.000,2458,1986,3484
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,933,1.54,68.4,103.8,0.0,91,995,1.95,2.78,53.03,0.726,4,0.097,0.097,2858,581,3203
$GC,1034,1.54,68.4,98.4,8.9,99,1039,0.00,2.62,0.00,0.000,6,0.000,0.059,2858,2021,3203
$GC,1229,1.54,68.4,81.5,9.0,114,1233,0.00,2.58,0.00,0.000,4,0.000,0.071,2858,3418,3203
$GC,1273,1.54,68.4,77.1,9.5,117,1281,0.00,2.62,0.00,0.000,6,0.000,0.058,2858,1999,3203
$GC,1470,1.54,68.4,59.1,9.0,133,1474,0.00,2.78,0.00,0.000,4,0.000,0.104,2858,579,3204
$GC,1535,1.54,68.4,53.3,9.4,138,1540,0.00,2.60,0.00,0.000,6,0.000,0.057,2859,2007,3203
$GC,1737,1.54,68.6,36.5,8.3,154,1742,0.00,2.80,0.00,0.000,4,0.000,0.102,2858,580,3203
$GC,1823,1.54,68.6,28.9,8.6,160,1827,0.00,2.55,0.00,0.000,6,0.000,0.056,2858,2005,3203
$GC,2023,1.57,93.4,13.7,6.3,182,2048,0.00,0.00,18.98,0.702,6,0.000,0.000,2858,2006,3102
$GC,2113,1.60,126.0,8.1,5.7,196,2144,0.00,2.88,24.67,0.690,4,0.000,0.105,2858,582,2969
$GC,2176,1.60,126.0,3.3,8.8,206,2183,0.00,2.62,0.00,0.000,6,0.000,0.062,2858,2011,2967
$GC,2249,1.72,237.9,4.0,-0.8,217,2342,0.20,2.65,84.70,0.660,4,0.064,0.074,2905,3412,2512
$STATE,2353,end climb,SURFACE_DEPTH_REACHED
$STATE,2353,begin surface coast
$FINISH,0.7,1.020461
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2404,110.55,0.640,0,0,1648,450.13
$SM_GC,1.44,0.00,0.00,110.55,0.000,0.000,0.640,38,2081,1648,-11.46,-0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2112
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,8.6
$ALTIM_BOTTOM_PING,51.6,7.9
$24V_AH,23.8,17.924
$10V_AH,10.2,4.649
$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,29.725,48.775,235.800,110.550,0.000,32.578,38.983,69.669,1.250,0.000,0.000,31.586,430.675,1231.648,446.214,432.026,236.516,33.357,729.364,0.000,417.314,0.000,6.954
$DEVICE_MAMPS,204.789,122.720,732.485,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,238
$CFSIZE,260034560,254406656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,051923,4739.871,-12251.866,12,5.8,31,18.3