version: 66.02
glider: 22
mission: 2
dive: 266
start: 9 29 107 21 46 4
data:
$ID,22
$MISSION,2
$DIVE,266
$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,90
$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,15
$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,-115008.2
$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,2095
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,11
$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
$GPS1,214010,4739.463,-12252.985,15,1.9,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.3
$GPS2,214439,4739.507,-12252.936,14,1.8,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.273,-0.041
$KALMAN_X,32070.3,31.5,204.7,-32247.6,107.6
$KALMAN_Y,5178.1,-58.9,542.1,-6004.4,-8.4
$MHEAD_RNG_PITCHd_Wd,243.2,341,-11.1,-7.407
$D_GRID,118
$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,-0.80,-97.8,0.0,0.0,0,88,0.00,0.00,-60.72,0.000,2,0.000,0.000,38,2114,2938
$GC,91,-0.80,-97.8,2.3,-2.5,10,153,13.60,3.03,-40.15,0.000,4,0.197,0.147,2348,679,3883
$GC,212,-0.80,-97.8,7.3,-6.8,29,219,0.00,2.75,0.00,0.000,6,0.000,0.094,2348,2096,3883
$GC,284,-0.80,-97.8,11.9,-6.6,40,291,0.00,2.90,0.00,0.000,4,0.000,0.129,2348,3510,3883
$GC,337,-0.80,-97.8,15.6,-6.9,48,344,0.00,2.88,0.00,0.000,6,0.000,0.112,2348,2089,3883
$GC,410,-0.80,-97.8,20.1,-6.2,59,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2089,3883
$GC,601,-0.80,-97.8,31.8,-6.3,74,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2089,3883
$GC,789,-0.80,-97.8,42.3,-5.3,89,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2089,3883
$GC,977,-0.80,-97.8,53.3,-6.1,104,982,0.00,2.92,0.00,0.000,4,0.000,0.123,2348,3510,3883
$GC,1015,-0.80,-97.8,55.8,-6.6,106,1023,0.00,2.88,0.00,0.000,6,0.000,0.114,2348,2094,3884
$GC,1212,-0.80,-97.8,68.0,-6.2,122,1217,0.00,2.97,0.00,0.000,4,0.000,0.143,2348,673,3884
$GC,1258,-0.80,-97.8,70.9,-6.5,125,1262,0.00,2.78,0.00,0.000,6,0.000,0.097,2348,2096,3884
$GC,1453,-0.80,-97.8,83.1,-6.0,140,1458,0.00,2.88,0.00,0.000,4,0.000,0.127,2348,3510,3884
$GC,1478,-0.80,-97.8,84.7,-6.4,141,1485,0.00,2.90,0.00,0.000,6,0.000,0.115,2348,2082,3884
$GC,1674,-0.80,-97.8,95.3,-5.4,157,1679,0.00,2.92,0.00,0.000,4,0.000,0.140,2348,676,3884
$GC,1700,-0.80,-97.8,96.8,-5.6,158,1706,0.00,2.78,0.00,0.000,6,0.000,0.098,2348,2104,3884
$STATE,1767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1767,begin apogee
$GC,1772,-0.31,0.0,100.6,5.4,164,1854,0.57,0.00,77.03,0.734,6,0.129,0.000,2458,2105,3483
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1858,0.80,97.8,102.8,0.0,171,1943,1.17,2.97,75.82,0.720,4,0.099,0.118,2700,678,3084
$GC,1983,0.87,162.2,98.8,5.9,181,2037,0.00,2.75,49.20,0.713,6,0.000,0.082,2700,2114,2822
$GC,2226,0.87,162.2,81.4,7.5,200,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2114,2821
$GC,2417,0.87,162.2,66.8,8.2,215,2422,0.00,2.95,0.00,0.000,4,0.000,0.121,2700,672,2821
$GC,2508,0.87,162.2,59.3,7.6,221,2515,0.00,2.75,0.00,0.000,6,0.000,0.081,2702,2106,2821
$GC,2704,0.87,162.2,43.6,8.1,237,2709,0.00,2.85,0.00,0.000,4,0.000,0.120,2700,3520,2821
$GC,2762,0.87,162.2,38.2,9.3,241,2769,0.00,2.83,0.00,0.000,6,0.000,0.094,2700,2089,2821
$GC,2959,0.87,162.2,22.3,7.8,257,2963,0.00,2.85,0.00,0.000,4,0.000,0.127,2700,682,2821
$GC,3031,0.87,162.2,16.3,7.9,265,3037,0.00,2.70,0.00,0.000,6,0.000,0.081,2700,2112,2821
$GC,3103,0.88,166.1,11.1,7.3,276,3116,0.00,2.92,2.67,0.765,4,0.000,0.122,2701,3521,2806
$GC,3148,0.88,166.1,7.5,7.9,283,3155,0.00,2.80,0.00,0.000,6,0.000,0.094,2700,2089,2806
$STATE,3178,end climb,SURFACE_DEPTH_REACHED
$STATE,3178,begin surface coast
$FINISH,0.6,1.021807
$STATE,3253,end surface coast,CONTROL_FINISHED_OK
$STATE,3253,begin surface
$SM_CCo,3273,157.60,0.647,0,0,1648,450.13
$SM_GC,1.32,0.00,0.00,157.60,0.000,0.000,0.647,38,2077,1648,-11.46,-0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2089
$TCM_TEMP,19.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.9,31.283
$10V_AH,10.2,8.085
$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,27.450,62.950,204.725,157.600,0.000,32.588,37.289,106.033,3.250,0.000,0.000,14.411,575.575,1829.652,495.386,513.839,333.881,33.340,830.091,0.000,514.691,0.000,5.347
$DEVICE_MAMPS,197.119,147.264,764.699,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9597,299
$CFSIZE,260034560,250400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,224452,4739.389,-12253.465,42,3.5,61,18.3