version: 66.02
glider: 22
mission: 2
dive: 109
start: 9 24 107 7 7 33
data:
$ID,22
$MISSION,2
$DIVE,109
$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,-110873.77
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,070237,4740.076,-12251.324,13,1.6,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.8
$GPS2,070626,4740.091,-12251.289,12,1.6,17,18.3
$SPEED_LIMITS,0.144,0.171
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,0.006
$KALMAN_X,17997.6,-113.7,53.7,-15818.3,-49.5
$KALMAN_Y,5146.9,88.9,17.8,-4514.9,82.0
$MHEAD_RNG_PITCHd_Wd,69.8,2953,-23.4,-8.333
$D_GRID,116
$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,-1.54,-68.4,0.0,0.0,0,69,0.00,0.00,-43.38,0.000,2,0.000,0.000,41,2102,2617
$GC,72,-1.54,-68.4,2.0,-2.3,7,146,12.77,2.72,-53.75,0.000,4,0.201,0.104,2187,3517,3762
$GC,397,-1.54,-68.4,36.9,-14.3,48,401,0.00,2.72,0.00,0.000,6,0.000,0.086,2187,2103,3763
$GC,599,-1.54,-68.4,63.1,-13.5,64,603,0.00,2.75,0.00,0.000,4,0.000,0.095,2187,3515,3764
$GC,656,-1.54,-68.4,71.2,-14.0,68,664,0.00,2.78,0.00,0.000,6,0.000,0.088,2187,2094,3764
$GC,853,-1.54,-68.4,96.8,-13.4,84,857,0.00,2.78,0.00,0.000,4,0.000,0.097,2187,3513,3765
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,878,begin apogee
$GC,885,-0.31,0.0,100.5,14.5,86,943,1.42,0.00,54.05,0.731,6,0.150,0.000,2454,1991,3484
$STATE,944,end apogee,CONTROL_FINISHED_OK
$STATE,944,begin climb
$GC,946,1.54,68.4,103.7,0.0,91,1008,1.98,2.80,53.25,0.725,4,0.100,0.097,2858,571,3205
$GC,1052,1.54,68.4,97.2,9.2,99,1060,0.00,2.65,0.00,0.000,6,0.000,0.060,2858,2004,3204
$GC,1248,1.54,68.4,78.8,9.9,115,1253,0.00,2.60,0.00,0.000,4,0.000,0.071,2858,3418,3204
$GC,1354,1.54,68.4,68.0,9.8,123,1358,0.00,2.60,0.00,0.000,6,0.000,0.058,2858,1988,3204
$GC,1555,1.54,68.4,49.6,9.5,139,1560,0.00,2.72,0.00,0.000,4,0.000,0.101,2858,582,3204
$GC,1648,1.54,68.4,41.3,9.0,146,1652,0.00,2.58,0.00,0.000,6,0.000,0.057,2858,2020,3204
$GC,1850,1.54,70.9,23.9,8.1,162,1857,0.00,2.80,1.90,0.798,4,0.000,0.100,2858,583,3193
$GC,1922,1.55,77.8,18.0,7.8,168,1935,0.00,2.55,5.43,0.740,6,0.000,0.057,2858,2002,3165
$GC,2002,1.55,82.6,11.5,7.9,180,2008,0.00,0.00,3.20,0.761,6,0.000,0.000,2858,2002,3147
$GC,2074,1.67,189.1,8.9,-0.3,191,2167,0.15,2.70,80.97,0.676,4,0.071,0.073,2898,3408,2710
$GC,2417,1.79,297.0,2.3,-0.4,244,2456,0.00,2.60,33.08,0.668,2,0.000,0.061,2898,1986,2531
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,0.8,1.019839
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2675,112.05,0.644,0,0,1648,450.13
$SM_GC,1.46,0.00,0.00,112.05,0.000,0.000,0.644,36,2100,1648,-11.47,0.03,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2121
$TCM_TEMP,20.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,10.0,7.9
$ALTIM_BOTTOM_PING,51.5,7.9
$24V_AH,23.8,18.152
$10V_AH,10.2,4.714
$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,29.425,43.550,231.875,112.050,0.000,32.580,38.929,80.401,1.500,0.000,0.000,17.526,498.423,1366.195,440.933,489.136,253.911,33.349,749.889,0.000,491.579,0.000,6.958
$DEVICE_MAMPS,200.954,103.545,797.680,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6453,280
$CFSIZE,260034560,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,075504,4740.083,-12251.057,12,2.0,31,18.3