version: 66.02
glider: 22
mission: 2
dive: 268
start: 9 30 107 0 10 28
data:
$ID,22
$MISSION,2
$DIVE,268
$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,-115060.12
$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,17
$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
$GPS1,235007,4739.507,-12253.024,11,1.2,27,18.3
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,4
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.2
$GPS2,000903,4739.690,-12252.902,13,1.6,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.209,-0.181
$KALMAN_X,32162.1,144.1,104.4,-32305.7,-46.5
$KALMAN_Y,5474.8,59.0,248.3,-5788.9,-124.7
$MHEAD_RNG_PITCHd_Wd,210.7,558,-11.1,-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,-0.80,-97.8,0.0,0.0,0,95,0.00,0.00,-67.57,0.000,2,0.000,0.000,38,2075,3040
$GC,98,-0.80,-97.8,2.0,-2.1,11,154,13.60,2.95,-35.80,0.000,4,0.198,0.141,2349,683,3883
$GC,175,-0.80,-97.8,5.1,-6.8,23,182,0.00,2.78,0.00,0.000,6,0.000,0.097,2349,2105,3883
$GC,247,-0.80,-97.8,9.5,-6.5,34,254,0.00,2.88,0.00,0.000,4,0.000,0.126,2349,3513,3883
$GC,287,-0.80,-97.8,12.3,-7.2,40,293,0.00,2.88,0.00,0.000,6,0.000,0.113,2349,2096,3883
$GC,359,-0.80,-97.8,16.9,-6.3,51,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2096,3884
$GC,436,-0.80,-97.8,21.9,-6.6,61,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2096,3883
$GC,627,-0.80,-97.8,33.8,-6.2,76,632,0.00,2.95,0.00,0.000,4,0.000,0.139,2349,677,3883
$GC,672,-0.80,-97.8,36.9,-6.7,79,677,0.00,2.78,0.00,0.000,6,0.000,0.098,2349,2103,3883
$GC,868,-0.80,-97.8,49.4,-6.3,94,872,0.00,2.85,0.00,0.000,4,0.000,0.126,2349,3512,3884
$GC,953,-0.80,-97.8,55.0,-6.3,100,957,0.00,2.90,0.00,0.000,6,0.000,0.116,2349,2085,3884
$GC,1148,-0.80,-97.8,66.7,-5.9,115,1153,0.00,2.92,0.00,0.000,4,0.000,0.139,2349,675,3883
$GC,1173,-0.80,-97.8,68.1,-5.3,116,1180,0.00,2.80,0.00,0.000,6,0.000,0.098,2349,2093,3884
$GC,1369,-0.80,-97.8,79.1,-5.3,132,1374,0.00,2.88,0.00,0.000,4,0.000,0.125,2349,3513,3884
$GC,1434,-0.80,-97.8,82.9,-6.1,136,1441,0.00,2.90,0.00,0.000,6,0.000,0.117,2349,2087,3884
$GC,1630,-0.80,-97.8,93.5,-5.3,152,1635,0.00,2.92,0.00,0.000,4,0.000,0.139,2349,676,3884
$GC,1663,-0.80,-97.8,95.3,-6.0,154,1667,0.00,2.78,0.00,0.000,6,0.000,0.099,2349,2104,3884
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1760,-0.31,0.0,100.3,5.2,161,1842,0.57,0.00,76.85,0.737,6,0.130,0.000,2459,2103,3483
$STATE,1843,end apogee,CONTROL_FINISHED_OK
$STATE,1843,begin climb
$GC,1845,0.80,97.8,102.4,0.0,168,1930,1.20,3.00,75.62,0.720,4,0.102,0.118,2700,682,3085
$GC,1983,0.84,131.7,97.3,6.6,179,2015,0.00,2.75,26.00,0.724,6,0.000,0.084,2701,2107,2946
$GC,2204,0.85,137.9,81.3,7.3,197,2217,0.00,2.95,4.65,0.765,4,0.000,0.120,2701,679,2921
$GC,2248,0.85,137.9,77.6,8.0,200,2255,0.00,2.72,0.00,0.000,6,0.000,0.081,2701,2100,2921
$GC,2445,0.85,137.9,62.5,7.6,216,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2099,2921
$GC,2636,0.86,150.6,48.6,7.1,231,2647,0.00,0.00,9.23,0.737,6,0.000,0.000,2700,2099,2870
$GC,2835,0.86,150.6,33.6,7.6,247,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,2869
$GC,3026,0.89,176.1,20.0,6.8,262,3051,0.10,0.00,19.35,0.706,6,0.079,0.000,2722,2101,2765
$GC,3116,0.89,176.1,12.6,8.8,276,3123,0.00,2.92,0.00,0.000,4,0.000,0.123,2722,673,2764
$GC,3148,0.89,176.1,9.8,8.9,281,3155,0.00,2.70,0.00,0.000,6,0.000,0.080,2722,2105,2764
$STATE,3205,end climb,SURFACE_DEPTH_REACHED
$STATE,3205,begin surface coast
$FINISH,0.6,1.022037
$STATE,3266,end surface coast,CONTROL_FINISHED_OK
$STATE,3266,begin surface
$SM_CCo,3288,140.90,0.644,0,0,1649,450.13
$SM_GC,1.23,0.00,0.00,140.90,0.000,0.000,0.644,38,2078,1649,-11.46,-0.48,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2078
$TCM_TEMP,19.70
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.5,31.491
$10V_AH,10.2,8.146
$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,27.675,57.250,211.700,140.900,0.000,162.981,392.218,235.311,4.000,0.000,0.000,13.918,576.180,2082.259,487.310,502.975,964.507,33.342,814.681,0.000,508.338,0.000,5.351
$DEVICE_MAMPS,197.886,141.128,765.466,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9567,299
$CFSIZE,260034560,250339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,010841,4739.486,-12253.256,9,2.9,28,18.3