version: 66.02
glider: 22
mission: 2
dive: 112
start: 9 24 107 10 3 19
data:
$ID,22
$MISSION,2
$DIVE,112
$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,-110947.85
$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,16
$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
$GPS1,095817,4740.313,-12250.300,12,3.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.1
$GPS2,100214,4740.326,-12250.258,30,1.2,37,18.3
$SPEED_LIMITS,0.144,0.193
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.026
$KALMAN_X,18188.6,-142.8,-108.8,-14533.5,58.0
$KALMAN_Y,5418.7,125.3,-4.7,-4366.4,41.2
$MHEAD_RNG_PITCHd_Wd,63.9,1601,-20.6,-8.333
$D_GRID,91
$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,-1.38,-88.0,0.0,0.0,0,69,0.00,0.00,-43.75,0.000,2,0.000,0.000,36,2104,2637
$GC,72,-1.38,-88.0,2.4,-2.8,7,139,12.90,2.88,-47.30,0.000,4,0.199,0.127,2219,684,3843
$GC,389,-1.38,-88.0,35.9,-12.5,46,397,0.00,2.70,0.00,0.000,6,0.000,0.079,2219,2099,3845
$GC,585,-1.38,-88.0,59.6,-12.4,62,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2099,3845
$GC,775,-1.38,-88.0,82.9,-12.5,77,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2098,3845
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,853,-0.31,0.0,91.9,11.8,83,926,1.25,0.00,69.03,0.719,6,0.139,0.000,2457,1985,3484
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,929,1.38,88.0,94.0,0.0,89,1006,1.80,2.83,68.15,0.712,4,0.100,0.100,2824,587,3124
$GC,1078,1.38,88.0,83.8,11.3,101,1083,0.00,2.60,0.00,0.000,6,0.000,0.061,2825,2010,3124
$GC,1281,1.38,88.0,62.4,9.7,117,1285,0.00,2.83,0.00,0.000,4,0.000,0.105,2824,585,3124
$GC,1379,1.38,88.0,51.7,11.7,124,1383,0.00,2.58,0.00,0.000,6,0.000,0.061,2824,2004,3124
$GC,1581,1.38,88.0,31.1,9.9,140,1586,0.00,2.62,0.00,0.000,4,0.000,0.073,2824,3410,3124
$GC,1634,1.38,88.0,25.6,10.4,144,1639,0.00,2.62,0.00,0.000,6,0.000,0.065,2825,1990,3124
$GC,1835,1.41,114.3,7.6,6.7,169,1860,0.00,2.70,19.80,0.689,4,0.000,0.072,2825,3417,3017
$GC,2111,1.54,235.7,4.6,0.6,211,2211,0.20,2.62,92.30,0.665,6,0.067,0.064,2871,1985,2521
$STATE,2261,end climb,SURFACE_DEPTH_REACHED
$STATE,2261,begin surface coast
$FINISH,0.7,1.019784
$STATE,2375,end surface coast,CONTROL_FINISHED_OK
$STATE,2375,begin surface
$SM_CCo,2397,112.28,0.640,0,0,1649,450.13
$SM_GC,1.72,0.00,0.00,112.28,0.000,0.000,0.640,39,2108,1649,-11.46,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2096
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,8.1
$ALTIM_BOTTOM_PING,50.2,7.1
$24V_AH,23.8,18.429
$10V_AH,10.2,4.788
$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,29.125,27.450,249.275,112.275,0.000,32.607,31.924,76.023,1.250,0.000,0.000,37.101,442.514,1214.940,433.746,452.682,232.137,33.356,706.413,0.000,432.245,0.000,6.955
$DEVICE_MAMPS,198.653,127.322,718.679,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,252
$CFSIZE,260034560,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,104608,4740.434,-12249.865,10,1.6,27,18.3