version: 66.02
glider: 22
mission: 2
dive: 114
start: 9 24 107 11 49 22
data:
$ID,22
$MISSION,2
$DIVE,114
$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,90
$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,-110994.76
$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,11
$R_STBD_OVSHOOT,13
$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
$GPS1,113728,4740.390,-12249.271,14,3.2,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.5
$GPS2,114817,4740.416,-12249.099,13,2.1,32,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.181,-0.067
$KALMAN_X,18713.9,-132.4,-83.3,-13655.9,141.1
$KALMAN_Y,5561.6,125.3,4.3,-4348.1,59.4
$MHEAD_RNG_PITCHd_Wd,231.2,5412,-20.6,-8.333
$D_GRID,87
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.38,-88.0,0.0,0.0,0,68,0.00,0.00,-43.45,0.000,2,0.000,0.000,40,2107,2621
$GC,71,-1.38,-88.0,2.1,-2.6,7,139,12.98,2.97,-48.78,0.000,4,0.202,0.133,2221,684,3844
$GC,145,-1.38,-88.0,6.0,-10.9,19,152,0.00,2.65,0.00,0.000,6,0.000,0.071,2221,2115,3844
$GC,216,-1.38,-88.0,13.9,-9.9,30,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2115,3845
$GC,294,-1.38,-88.0,21.2,-9.6,41,299,0.00,2.90,0.00,0.000,4,0.000,0.117,2221,683,3846
$GC,340,-1.38,-88.0,26.0,-10.3,44,344,0.00,2.67,0.00,0.000,6,0.000,0.078,2221,2107,3846
$GC,542,-1.38,-88.0,48.9,-11.5,60,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2107,3848
$GC,731,-1.38,-88.0,71.7,-12.5,75,735,0.00,2.70,0.00,0.000,4,0.000,0.097,2220,3513,3848
$GC,842,-1.38,-88.0,85.3,-11.5,83,850,0.00,2.75,0.00,0.000,6,0.000,0.088,2220,2100,3849
$STATE,860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,865,-0.31,0.0,87.5,11.0,85,938,1.25,0.00,69.35,0.714,6,0.139,0.000,2458,1978,3483
$STATE,939,end apogee,CONTROL_FINISHED_OK
$STATE,939,begin climb
$GC,941,1.38,88.0,90.1,0.0,91,1017,1.77,2.83,68.15,0.704,4,0.099,0.107,2822,591,3124
$GC,1043,1.38,88.0,83.0,11.9,99,1052,0.00,2.65,0.00,0.000,6,0.000,0.063,2823,2014,3124
$GC,1240,1.38,88.0,60.6,11.1,115,1244,0.00,2.60,0.00,0.000,4,0.000,0.074,2823,3418,3124
$GC,1338,1.38,88.0,49.7,11.5,122,1345,0.00,2.65,0.00,0.000,6,0.000,0.064,2822,1997,3124
$GC,1534,1.38,88.0,29.6,10.0,138,1539,0.00,2.80,0.00,0.000,4,0.000,0.108,2822,578,3124
$GC,1619,1.38,88.0,20.7,10.2,144,1624,0.00,2.60,0.00,0.000,6,0.000,0.061,2823,2011,3124
$GC,1825,1.48,174.1,5.6,2.9,174,1899,0.12,2.67,64.85,0.665,4,0.068,0.081,2855,3403,2774
$GC,2151,1.61,295.3,3.7,0.7,224,2239,0.12,2.62,80.97,0.656,2,0.075,0.067,2884,1981,2314
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2240,begin surface coast
$FINISH,0.7,1.017383
$STATE,2298,end surface coast,CONTROL_FINISHED_OK
$STATE,2298,begin surface
$SM_CCo,2319,78.35,0.635,0,0,1648,450.13
$SM_GC,1.55,0.00,0.00,78.35,0.000,0.000,0.635,39,2108,1648,-11.46,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2106
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,7.9
$ALTIM_BOTTOM_PING,50.4,7.8
$24V_AH,23.9,18.612
$10V_AH,10.2,4.836
$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,29.300,38.550,283.325,78.350,0.000,97.823,264.390,73.837,1.250,0.000,0.000,33.260,430.428,1223.437,441.224,445.867,536.929,33.338,729.857,0.000,430.563,0.000,6.957
$DEVICE_MAMPS,201.721,132.691,714.077,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6475,247
$CFSIZE,260034560,254210048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,123020,4740.343,-12248.908,10,1.6,27,18.3