version: 66.02
glider: 22
mission: 2
dive: 102
start: 9 24 107 1 31 33
data:
$ID,22
$MISSION,2
$DIVE,102
$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,80
$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,-110648.62
$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,13
$R_STBD_OVSHOOT,26
$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
$GPS1,012623,4739.591,-12252.938,11,2.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.3
$GPS2,013029,4739.604,-12252.931,17,3.1,36,18.3
$SPEED_LIMITS,0.144,0.182
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.107
$KALMAN_X,17818.3,144.7,58.0,-17951.8,134.9
$KALMAN_Y,4363.6,-31.2,64.5,-4560.2,94.2
$MHEAD_RNG_PITCHd_Wd,215.6,424,-21.9,-8.333
$D_GRID,120
$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,-1.45,-78.2,0.0,0.0,0,82,0.00,0.00,-55.75,0.000,2,0.000,0.000,41,2078,2868
$GC,85,-1.45,-78.2,2.4,-3.6,9,146,13.07,2.80,-40.53,0.000,4,0.207,0.125,2205,686,3804
$GC,153,-1.45,-78.2,4.4,-6.6,20,159,0.00,2.62,0.00,0.000,6,0.000,0.074,2205,2092,3804
$GC,224,-1.45,-78.2,13.9,-14.0,31,231,0.00,2.75,0.00,0.000,4,0.000,0.094,2205,3520,3804
$GC,308,-1.45,-78.2,25.8,-13.5,41,316,0.00,2.72,0.00,0.000,6,0.000,0.079,2205,2102,3805
$GC,507,-1.45,-78.2,50.3,-12.9,57,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2102,3805
$GC,695,-1.45,-78.2,74.9,-13.2,72,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2102,3805
$GC,884,-1.45,-78.2,98.2,-11.7,87,889,0.00,2.90,0.00,0.000,4,0.000,0.127,2205,677,3806
$STATE,901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,901,begin apogee
$GC,908,-0.31,0.0,100.6,11.9,88,976,1.35,0.00,61.85,0.728,6,0.146,0.000,2458,2010,3483
$STATE,977,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,979,1.45,78.2,104.1,0.0,94,1048,1.90,0.00,61.12,0.723,6,0.097,0.000,2845,2011,3164
$GC,1237,1.45,78.2,81.9,11.5,115,1242,0.00,2.85,0.00,0.000,4,0.000,0.105,2843,574,3164
$GC,1494,1.45,78.2,54.0,11.5,134,1498,0.00,2.58,0.00,0.000,6,0.000,0.056,2844,2011,3164
$GC,1696,1.45,78.2,35.7,8.8,150,1700,0.00,2.83,0.00,0.000,4,0.000,0.102,2844,574,3164
$GC,1954,1.51,129.1,13.4,4.7,176,2003,0.00,2.55,38.83,0.684,6,0.000,0.055,2844,2006,2957
$GC,2068,1.51,129.1,4.5,8.7,194,2074,0.00,2.85,0.00,0.000,4,0.000,0.108,2844,580,2957
$GC,2080,1.51,129.1,3.5,8.4,196,2087,0.00,2.60,0.00,0.000,6,0.000,0.062,2844,2010,2957
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,1.1,1.020443
$STATE,2138,end surface coast,CONTROL_FINISHED_OK
$STATE,2138,begin surface
$SM_CCo,2161,167.80,0.640,0,0,1649,450.13
$SM_GC,1.39,0.00,0.00,167.80,0.000,0.000,0.640,41,2105,1649,-11.45,0.14,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2093
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,7.9
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.8,17.633
$10V_AH,10.2,4.572
$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,29.525,32.725,161.800,167.800,0.000,32.588,33.236,84.217,1.250,0.000,0.000,37.130,385.880,1136.708,452.072,390.365,240.234,33.349,687.242,0.000,370.129,0.000,6.956
$DEVICE_MAMPS,207.090,126.555,727.883,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6427,205
$CFSIZE,260034560,254513152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,021123,4739.537,-12253.206,9,5.1,28,18.3