version: 66.02
glider: 22
mission: 2
dive: 204
start: 9 28 107 4 24 51
data:
$ID,22
$MISSION,2
$DIVE,204
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,15
$T_MISSION,35
$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,-113381.02
$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,2167
$C_ROLL_CLIMB,2095
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,15
$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,0
$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
$GPS1,041609,4739.437,-12252.527,8,2.0,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.8
$GPS2,042327,4739.429,-12252.529,16,1.9,16,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.221,-0.023
$KALMAN_X,27458.1,189.0,32.9,-27113.4,71.4
$KALMAN_Y,3695.2,-233.8,-140.8,-3806.3,31.0
$MHEAD_RNG_PITCHd_Wd,245.8,842,-26.9,-12.222
$D_GRID,124
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.77,-78.2,0.0,0.0,0,83,0.00,0.00,-55.85,0.000,2,0.000,0.000,36,2186,2879
$GC,86,-1.77,-78.2,2.4,-3.9,9,142,12.45,2.95,-36.62,0.000,4,0.200,0.135,2135,750,3802
$GC,148,-1.77,-78.2,6.3,-12.5,19,154,0.00,2.72,0.00,0.000,6,0.000,0.088,2135,2165,3802
$GC,220,-1.77,-78.2,17.7,-16.7,30,226,0.00,2.90,0.00,0.000,4,0.000,0.122,2135,750,3803
$GC,476,-1.77,-78.2,54.9,-14.5,51,484,0.00,2.78,0.00,0.000,6,0.000,0.091,2135,2177,3805
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,499,-0.31,0.0,57.7,15.4,53,569,1.75,0.00,61.22,0.679,6,0.157,0.000,2455,2085,3484
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,572,1.77,78.2,61.0,0.0,59,644,2.20,2.83,60.10,0.667,4,0.097,0.084,2908,3514,3165
$GC,710,1.77,78.2,47.9,14.1,70,714,0.00,2.60,0.00,0.000,6,0.000,0.054,2907,2083,3165
$GC,912,1.77,81.9,21.7,11.9,86,925,0.00,2.78,3.15,0.722,4,0.000,0.096,2908,676,3148
$GC,944,1.77,83.5,17.9,12.1,89,951,0.00,2.60,0.00,0.000,6,0.000,0.059,2908,2108,3147
$GC,1016,1.78,95.2,10.1,11.2,100,1035,0.00,2.88,9.43,0.676,4,0.000,0.097,2908,668,3096
$GC,1074,1.83,135.9,3.9,8.7,109,1111,0.00,2.62,30.52,0.649,6,0.000,0.065,2908,2099,2929
$GC,1177,1.98,271.0,3.9,0.7,125,1263,0.22,0.00,83.15,0.631,2,0.065,0.000,2960,2099,2440
$STATE,1265,end climb,SURFACE_DEPTH_REACHED
$STATE,1266,begin surface coast
$FINISH,0.5,1.010469
$STATE,1304,end surface coast,CONTROL_FINISHED_OK
$STATE,1304,begin surface
$SM_CCo,1326,90.65,0.617,0,0,1647,450.13
$SM_GC,1.36,0.00,0.00,90.65,0.000,0.000,0.617,38,2177,1647,-11.46,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2071
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,40.2,6.4
$24V_AH,23.9,26.206
$10V_AH,10.2,6.915
$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,30.050,27.950,247.575,90.650,0.000,65.208,72.191,155.445,1.250,0.000,0.000,16.323,282.063,536.547,426.656,271.984,388.894,33.331,636.085,0.000,274.807,0.000,2.442
$DEVICE_MAMPS,200.187,134.992,721.747,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,91.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3331,145
$CFSIZE,260034560,251809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,044937,4739.410,-12252.531,32,1.0,36,18.3