version: 66.02
glider: 22
mission: 2
dive: 252
start: 9 29 107 6 16 47
data:
$ID,22
$MISSION,2
$DIVE,252
$D_SURF,5
$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,45
$T_MISSION,70
$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,100
$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,-114659.05
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,22
$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
$GPS1,061107,4739.984,-12252.694,12,1.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.4
$GPS2,061539,4739.981,-12252.702,16,1.1,16,18.3
$SPEED_LIMITS,0.128,0.195
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,-0.185
$KALMAN_X,30360.7,632.4,161.8,-30802.0,-36.2
$KALMAN_Y,4409.1,478.7,264.2,-4619.3,185.0
$MHEAD_RNG_PITCHd_Wd,180.5,1139,-17.6,-7.407
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.21,-97.8,0.0,0.0,0,83,0.00,0.00,-55.33,0.000,2,0.000,0.000,38,2266,2858
$GC,86,-1.21,-97.8,2.3,-2.9,9,148,13.25,2.97,-40.22,0.000,4,0.202,0.137,2258,830,3883
$GC,399,-1.21,-97.8,34.0,-10.7,48,403,0.00,2.72,0.00,0.000,6,0.000,0.091,2258,2244,3886
$GC,594,-1.21,-97.8,55.2,-11.1,63,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2243,3887
$GC,785,-1.21,-97.8,74.4,-9.7,78,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2244,3887
$GC,974,-1.21,-97.8,93.2,-10.1,93,978,0.00,2.70,0.00,0.000,4,0.000,0.126,2259,3563,3887
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1046,-0.31,0.0,100.3,10.7,98,1125,1.02,0.00,75.62,0.713,6,0.144,0.000,2454,2096,3484
$STATE,1126,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1128,1.21,97.8,103.3,0.0,105,1209,1.65,0.00,75.93,0.700,6,0.098,0.000,2789,2092,3084
$GC,1398,1.21,97.8,82.4,9.2,127,1403,0.00,2.78,0.00,0.000,4,0.000,0.094,2788,3516,3085
$GC,1432,1.21,97.8,79.0,10.4,129,1437,0.00,2.67,0.00,0.000,6,0.000,0.069,2789,2084,3085
$GC,1627,1.21,97.8,59.9,9.4,144,1631,0.00,2.78,0.00,0.000,4,0.000,0.110,2788,680,3085
$GC,1739,1.21,97.8,48.3,10.6,152,1743,0.00,2.62,0.00,0.000,6,0.000,0.064,2788,2111,3085
$GC,1934,1.21,97.8,30.2,8.8,167,1938,0.00,2.67,0.00,0.000,4,0.000,0.091,2789,3510,3085
$GC,1973,1.21,97.8,26.3,9.8,169,1980,0.00,2.62,0.00,0.000,6,0.000,0.066,2789,2089,3085
$GC,2175,1.21,97.8,8.2,7.7,195,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2089,3085
$GC,2246,1.34,222.7,5.5,1.1,206,2346,0.15,0.00,94.60,0.653,6,0.066,0.000,2826,2088,2576
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,0.6,1.011657
$STATE,2516,end surface coast,CONTROL_FINISHED_OK
$STATE,2517,begin surface
$SM_CCo,2539,123.32,0.632,0,0,1648,450.13
$SM_GC,1.44,0.00,0.00,123.32,0.000,0.000,0.632,37,2261,1648,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2104
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,51.1,7.8
$24V_AH,23.5,29.985
$10V_AH,10.2,7.718
$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,28.875,27.850,246.150,123.325,0.000,32.599,62.884,93.292,1.750,0.000,0.000,16.359,443.751,1338.912,454.624,421.852,310.558,33.322,721.395,0.000,422.952,0.000,6.666
$DEVICE_MAMPS,202.488,137.293,713.310,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,248
$CFSIZE,260034560,250814464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,070151,4739.838,-12252.697,8,1.9,8,18.3