version: 66.02
glider: 22
mission: 2
dive: 110
start: 9 24 107 8 9 59
data:
$ID,22
$MISSION,2
$DIVE,110
$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,-110891.63
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,075504,4740.083,-12251.057,12,2.0,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.0
$GPS2,080851,4740.142,-12250.977,17,1.5,17,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.013
$KALMAN_X,18026.5,-118.4,3.6,-15406.6,-88.3
$KALMAN_Y,5214.6,109.3,10.0,-4501.4,55.4
$MHEAD_RNG_PITCHd_Wd,67.4,2553,-23.4,-8.333
$D_GRID,117
$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,-1.54,-68.4,0.0,0.0,0,74,0.00,0.00,-49.35,0.000,2,0.000,0.000,36,2100,2754
$GC,77,-1.54,-68.4,2.3,-3.4,8,144,12.80,2.75,-44.00,0.000,4,0.202,0.097,2185,3517,3763
$GC,393,-1.54,-68.4,34.1,-12.1,48,401,0.00,2.72,0.00,0.000,6,0.000,0.080,2185,2101,3766
$GC,589,-1.54,-68.4,57.7,-12.5,64,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2101,3766
$GC,780,-1.54,-68.4,83.3,-13.2,79,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2101,3766
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,921,-0.31,0.0,100.4,11.8,90,980,1.45,0.00,54.10,0.728,6,0.149,0.000,2455,1972,3484
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,982,1.54,68.4,103.2,0.0,95,1044,2.00,2.72,53.08,0.725,4,0.103,0.098,2860,586,3205
$GC,1149,1.54,68.4,89.3,11.1,108,1154,0.00,2.58,0.00,0.000,6,0.000,0.055,2860,2020,3205
$GC,1351,1.54,68.4,69.6,10.0,124,1355,0.00,2.53,0.00,0.000,4,0.000,0.068,2860,3403,3205
$GC,1422,1.54,68.4,61.9,10.9,129,1430,0.00,2.58,0.00,0.000,6,0.000,0.055,2860,1998,3205
$GC,1619,1.54,68.4,43.2,9.4,145,1623,0.00,2.75,0.00,0.000,4,0.000,0.100,2860,580,3205
$GC,1757,1.54,71.9,30.9,8.1,155,1765,0.00,2.58,2.80,0.765,6,0.000,0.055,2860,2001,3189
$GC,1956,1.54,71.9,13.6,10.0,176,1962,0.00,2.78,0.00,0.000,4,0.000,0.100,2860,585,3189
$GC,2213,1.66,177.2,11.6,-0.2,215,2301,0.15,2.55,79.55,0.678,6,0.070,0.058,2897,2005,2761
$STATE,2351,end climb,SURFACE_DEPTH_REACHED
$STATE,2351,begin surface coast
$FINISH,0.8,1.019836
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2401,164.18,0.647,0,0,1648,450.13
$SM_GC,1.41,0.00,0.00,164.18,0.000,0.000,0.647,36,2116,1648,-11.47,0.45,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2076
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,7.8
$ALTIM_BOTTOM_PING,51.4,7.8
$24V_AH,23.8,18.247
$10V_AH,10.2,4.739
$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,29.900,26.925,189.525,164.175,0.000,130.358,224.917,200.544,1.000,0.000,0.000,17.241,436.532,1458.459,447.544,423.252,659.774,33.341,711.261,0.000,425.139,0.000,7.874
$DEVICE_MAMPS,201.721,100.477,765.466,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6417,241
$CFSIZE,260034560,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,085350,4740.123,-12250.741,14,1.8,32,18.3