version: 66.02
glider: 22
mission: 2
dive: 107
start: 9 24 107 5 27 44
data:
$ID,22
$MISSION,2
$DIVE,107
$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,-110820.17
$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,8
$R_STBD_OVSHOOT,19
$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
$GPS1,051923,4739.871,-12251.866,12,5.8,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.3
$GPS2,052637,4739.935,-12251.801,36,1.8,40,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,-0.001
$KALMAN_X,18057.2,-82.0,119.7,-16621.0,4.2
$KALMAN_Y,4947.4,33.8,29.6,-4562.4,125.9
$MHEAD_RNG_PITCHd_Wd,71.9,3646,-23.4,-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,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,-49.42,0.000,2,0.000,0.000,38,2080,2741
$GC,77,-1.54,-68.4,2.3,-2.9,8,144,12.88,2.78,-44.38,0.000,4,0.204,0.097,2186,3513,3763
$GC,361,-1.54,-68.4,30.8,-12.3,46,366,0.00,2.72,0.00,0.000,6,0.000,0.081,2186,2095,3764
$GC,563,-1.54,-68.4,56.2,-12.3,62,568,0.00,2.88,0.00,0.000,4,0.000,0.123,2186,685,3765
$GC,595,-1.54,-68.4,60.4,-13.4,64,603,0.00,2.70,0.00,0.000,6,0.000,0.082,2186,2093,3765
$GC,791,-1.54,-68.4,86.4,-13.5,80,796,0.00,2.78,0.00,0.000,4,0.000,0.100,2186,3531,3766
$GC,857,-1.54,-68.4,95.7,-14.4,85,862,0.00,2.78,0.00,0.000,6,0.000,0.089,2186,2101,3766
$STATE,893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,893,begin apogee
$GC,898,-0.31,0.0,101.0,14.0,88,957,1.45,0.00,54.45,0.731,6,0.146,0.000,2458,1989,3483
$STATE,958,end apogee,CONTROL_FINISHED_OK
$STATE,958,begin climb
$GC,959,1.54,68.4,103.4,0.0,93,1021,1.95,2.78,53.20,0.722,4,0.100,0.097,2856,586,3204
$GC,1066,1.54,72.6,97.6,8.0,101,1074,0.00,2.62,3.05,0.773,6,0.000,0.061,2857,2007,3187
$GC,1262,1.54,72.6,79.9,9.5,117,1266,0.00,2.60,0.00,0.000,4,0.000,0.073,2857,3416,3188
$GC,1306,1.54,72.6,75.3,10.7,120,1314,0.00,2.62,0.00,0.000,6,0.000,0.059,2857,1999,3187
$GC,1503,1.54,72.6,56.7,9.3,136,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1999,3187
$GC,1693,1.55,76.7,40.0,8.0,151,1706,0.00,2.83,3.08,0.767,4,0.000,0.101,2856,581,3171
$GC,1773,1.55,76.7,33.3,9.5,157,1777,0.00,2.58,0.00,0.000,6,0.000,0.058,2856,2012,3171
$GC,1968,1.56,86.0,18.8,7.6,173,1981,0.00,2.83,7.20,0.728,4,0.000,0.101,2856,587,3132
$GC,2154,1.62,143.3,5.2,3.7,201,2203,0.12,2.58,42.88,0.679,6,0.074,0.061,2890,2006,2899
$GC,2269,1.71,229.3,4.0,1.3,219,2342,0.00,2.70,65.18,0.661,4,0.000,0.075,2889,3413,2549
$STATE,2373,end climb,SURFACE_DEPTH_REACHED
$STATE,2373,begin surface coast
$FINISH,0.7,1.020068
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2444,115.28,0.641,0,0,1648,450.13
$SM_GC,1.47,0.00,0.00,115.28,0.000,0.000,0.641,36,2080,1648,-11.47,-0.57,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2100
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.6,6.6
$ALTIM_BOTTOM_PING,51.5,7.8
$24V_AH,23.8,18.005
$10V_AH,10.2,4.671
$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,29.525,43.575,229.025,115.275,0.000,65.206,71.526,131.559,1.500,0.000,0.000,40.374,435.899,1328.646,442.474,444.911,373.933,33.363,721.687,0.000,419.920,0.000,7.839
$DEVICE_MAMPS,204.022,122.720,773.136,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,243
$CFSIZE,260034560,254382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,061123,4739.964,-12251.494,7,4.6,26,18.3