version: 66.02
glider: 22
mission: 2
dive: 108
start: 9 24 107 6 16 29
data:
$ID,22
$MISSION,2
$DIVE,108
$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,-110855.62
$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,6
$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
$GPS1,061123,4739.964,-12251.494,7,4.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.8
$GPS2,061523,4739.989,-12251.458,14,3.7,33,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.019
$KALMAN_X,18149.8,-110.0,74.5,-16209.8,20.9
$KALMAN_Y,5018.5,66.6,31.7,-4565.7,85.3
$MHEAD_RNG_PITCHd_Wd,65.2,3208,-23.4,-8.333
$D_GRID,119
$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,22,begin dive
$GC,24,-1.54,-68.4,0.0,0.0,0,69,0.00,0.00,-43.45,0.000,2,0.000,0.000,36,2081,2619
$GC,72,-1.54,-68.4,2.0,-2.2,7,145,12.93,2.88,-50.12,0.000,4,0.205,0.125,2186,676,3763
$GC,165,-1.54,-68.4,6.8,-10.3,22,172,0.00,2.67,0.00,0.000,6,0.000,0.076,2186,2098,3763
$GC,237,-1.54,-68.4,16.0,-12.7,33,244,0.00,2.90,0.00,0.000,4,0.000,0.120,2186,680,3763
$GC,493,-1.54,-68.4,49.3,-12.0,55,501,0.00,2.72,0.00,0.000,6,0.000,0.079,2186,2108,3765
$GC,689,-1.54,-68.4,74.7,-13.3,71,694,0.00,2.92,0.00,0.000,4,0.000,0.126,2186,682,3766
$GC,853,-1.54,-68.4,96.9,-13.5,83,861,0.00,2.70,0.00,0.000,6,0.000,0.081,2187,2098,3766
$STATE,884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,884,begin apogee
$GC,889,-0.31,0.0,101.2,13.6,86,947,1.42,0.00,54.08,0.734,6,0.145,0.000,2455,1986,3484
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,950,1.54,68.4,103.9,0.0,91,1012,1.98,2.78,53.35,0.725,4,0.099,0.096,2860,580,3203
$GC,1039,1.55,75.4,99.3,7.8,98,1051,0.00,2.62,5.20,0.760,6,0.000,0.062,2860,2007,3176
$GC,1239,1.55,75.4,80.1,9.9,114,1243,0.00,2.60,0.00,0.000,4,0.000,0.074,2860,3414,3176
$GC,1291,1.55,75.4,74.5,10.4,118,1296,0.00,2.60,0.00,0.000,6,0.000,0.060,2860,1994,3176
$GC,1493,1.55,75.4,54.5,9.6,134,1498,0.00,2.75,0.00,0.000,4,0.000,0.100,2859,589,3175
$GC,1564,1.55,75.4,47.6,9.5,139,1572,0.00,2.58,0.00,0.000,6,0.000,0.057,2860,2003,3175
$GC,1761,1.55,75.4,29.5,8.8,155,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2003,3175
$GC,1954,1.57,99.2,13.4,6.4,176,1980,0.00,2.85,17.98,0.701,4,0.000,0.104,2860,584,3078
$GC,2230,1.67,192.9,6.3,0.7,218,2312,0.15,2.58,71.03,0.676,6,0.070,0.059,2895,2010,2696
$STATE,2362,end climb,SURFACE_DEPTH_REACHED
$STATE,2362,begin surface coast
$FINISH,1.2,1.020282
$STATE,2562,end surface coast,CONTROL_FINISHED_OK
$STATE,2562,begin surface
$SM_CCo,2583,128.55,0.641,0,0,1648,450.13
$SM_GC,1.47,0.00,0.00,128.55,0.000,0.000,0.641,41,2101,1648,-11.45,0.03,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2130
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.8,8.0
$ALTIM_BOTTOM_PING,51.6,7.8
$24V_AH,23.8,18.077
$10V_AH,10.2,4.693
$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,29.925,38.525,201.625,128.550,0.000,32.587,37.541,76.678,1.250,0.000,0.000,34.822,480.827,1324.763,438.166,494.192,245.202,33.358,733.707,0.000,475.828,0.000,6.957
$DEVICE_MAMPS,204.789,125.788,760.097,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6436,269
$CFSIZE,260034560,254357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,070237,4740.076,-12251.324,13,1.6,23,18.3