version: 66.02
glider: 22
mission: 2
dive: 267
start: 9 29 107 22 58 28
data:
$ID,22
$MISSION,2
$DIVE,267
$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,-115045.57
$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,9
$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
$GPS1,224452,4739.389,-12253.465,42,3.5,61,18.3
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-62.9
$GPS2,225705,4739.478,-12253.424,16,2.7,35,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.255,0.107
$KALMAN_X,32170.7,92.5,171.9,-32982.6,49.7
$KALMAN_Y,5273.9,-10.9,445.2,-6106.6,-114.5
$MHEAD_RNG_PITCHd_Wd,48.8,277,-11.1,-7.407
$D_GRID,119
$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,25,-0.80,-97.8,0.0,0.0,0,94,0.00,0.00,-67.43,0.000,2,0.000,0.000,38,2075,3040
$GC,97,-0.80,-97.8,2.0,-1.8,11,159,13.65,3.00,-37.55,0.000,4,0.199,0.134,2349,3511,3883
$GC,292,-0.80,-97.8,11.9,-5.5,41,298,0.00,2.88,0.00,0.000,6,0.000,0.114,2351,2094,3883
$GC,365,-0.80,-97.8,16.6,-5.7,52,371,0.00,2.97,0.00,0.000,4,0.000,0.140,2350,672,3883
$GC,410,-0.80,-97.8,19.5,-6.1,59,416,0.00,2.78,0.00,0.000,6,0.000,0.097,2350,2096,3883
$GC,486,-0.80,-97.8,24.1,-6.0,66,491,0.00,2.90,0.00,0.000,4,0.000,0.126,2350,3517,3884
$GC,537,-0.80,-97.8,27.7,-7.0,69,544,0.00,2.90,0.00,0.000,6,0.000,0.114,2350,2088,3884
$GC,734,-0.80,-97.8,39.1,-5.4,85,738,0.00,2.95,0.00,0.000,4,0.000,0.138,2350,670,3884
$GC,766,-0.80,-97.8,40.9,-5.9,87,771,0.00,2.80,0.00,0.000,6,0.000,0.098,2350,2106,3885
$GC,962,-0.80,-97.8,52.7,-6.2,102,967,0.00,2.88,0.00,0.000,4,0.000,0.127,2350,3520,3885
$GC,1034,-0.80,-97.8,57.4,-6.7,107,1039,0.00,2.90,0.00,0.000,6,0.000,0.116,2350,2086,3885
$GC,1230,-0.80,-97.8,68.7,-5.9,122,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2087,3885
$GC,1420,-0.80,-97.8,80.9,-6.2,137,1425,0.00,2.92,0.00,0.000,4,0.000,0.123,2350,3514,3885
$GC,1471,-0.80,-97.8,84.6,-6.7,140,1479,0.00,2.90,0.00,0.000,6,0.000,0.117,2349,2090,3885
$GC,1668,-0.80,-97.8,96.5,-6.5,156,1673,0.00,2.95,0.00,0.000,4,0.000,0.139,2349,670,3885
$GC,1700,-0.80,-97.8,98.6,-6.6,158,1705,0.00,2.80,0.00,0.000,6,0.000,0.098,2350,2107,3885
$STATE,1729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1729,begin apogee
$GC,1735,-0.31,0.0,100.5,6.0,160,1817,0.57,0.00,76.82,0.742,6,0.132,0.000,2459,2108,3483
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1820,0.80,97.8,102.9,0.0,167,1906,1.15,3.00,75.70,0.723,4,0.097,0.120,2697,676,3083
$GC,1924,0.93,219.5,100.0,4.6,175,2023,0.12,2.75,93.10,0.709,6,0.051,0.081,2737,2098,2590
$GC,2212,0.93,219.5,71.6,10.6,198,2216,0.00,2.88,0.00,0.000,4,0.000,0.117,2737,3521,2589
$GC,2244,0.93,219.5,67.6,12.0,200,2248,0.00,2.78,0.00,0.000,6,0.000,0.089,2737,2095,2589
$GC,2439,0.93,219.5,45.9,11.3,215,2444,0.00,2.90,0.00,0.000,4,0.000,0.127,2737,675,2589
$GC,2530,0.93,219.5,35.2,11.3,221,2538,0.00,2.72,0.00,0.000,6,0.000,0.078,2737,2105,2589
$GC,2729,0.93,219.5,14.2,10.9,241,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2105,2589
$GC,2801,0.93,219.5,7.1,8.7,252,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2105,2589
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,1.3,1.021701
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2909,127.03,0.647,0,0,1649,450.13
$SM_GC,1.19,0.00,0.00,127.03,0.000,0.000,0.647,38,2079,1649,-11.46,-0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2087
$TCM_TEMP,19.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,31.383
$10V_AH,10.2,8.114
$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,27.800,57.575,245.625,127.025,0.000,99.192,106.044,272.601,2.750,0.000,0.000,36.752,512.000,1668.743,491.046,499.875,644.654,33.336,811.733,0.000,477.857,0.000,6.692
$DEVICE_MAMPS,199.420,140.361,741.689,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6445,265
$CFSIZE,260034560,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,235007,4739.507,-12253.024,11,1.2,27,18.3