version: 66.02
glider: 22
mission: 2
dive: 269
start: 9 30 107 1 14 17
data:
$ID,22
$MISSION,2
$DIVE,269
$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,-115094.68
$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,12
$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
$GPS1,010841,4739.486,-12253.256,9,2.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.9
$GPS2,011253,4739.528,-12253.209,14,3.0,33,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.286,-0.014
$KALMAN_X,32344.5,198.2,17.4,-32843.3,-20.0
$KALMAN_Y,5757.7,132.3,42.0,-6241.6,-41.5
$MHEAD_RNG_PITCHd_Wd,74.6,1014,-10.5,-7.407
$D_GRID,116
$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,-0.77,-97.8,0.0,0.0,0,94,0.00,0.00,-66.75,0.000,2,0.000,0.000,38,2077,3040
$GC,97,-0.77,-97.8,2.1,-2.4,11,159,13.75,2.95,-37.45,0.000,4,0.201,0.132,2357,3504,3884
$GC,305,-0.77,-97.8,12.1,-6.9,43,312,0.00,2.85,0.00,0.000,6,0.000,0.113,2357,2096,3884
$GC,378,-0.77,-97.8,16.0,-5.0,54,384,0.00,2.97,0.00,0.000,4,0.000,0.140,2357,670,3884
$GC,424,-0.77,-97.8,18.9,-6.6,61,430,0.00,2.80,0.00,0.000,6,0.000,0.097,2357,2108,3883
$GC,493,-0.77,-97.8,22.8,-5.8,68,498,0.00,2.85,0.00,0.000,4,0.000,0.126,2358,3512,3885
$GC,552,-0.77,-97.8,26.1,-5.2,72,557,0.00,2.88,0.00,0.000,6,0.000,0.112,2357,2088,3884
$GC,748,-0.77,-97.8,36.9,-5.5,87,752,0.00,2.95,0.00,0.000,4,0.000,0.139,2357,668,3884
$GC,781,-0.77,-97.8,38.6,-5.2,89,785,0.00,2.80,0.00,0.000,6,0.000,0.099,2357,2102,3884
$GC,976,-0.77,-97.8,49.0,-5.4,104,980,0.00,2.88,0.00,0.000,4,0.000,0.125,2357,3520,3884
$GC,1061,-0.77,-97.8,53.9,-5.8,110,1066,0.00,2.90,0.00,0.000,6,0.000,0.114,2357,2087,3884
$GC,1256,-0.77,-97.8,64.7,-5.6,125,1261,0.00,2.92,0.00,0.000,4,0.000,0.138,2357,676,3884
$GC,1282,-0.77,-97.8,66.1,-5.6,126,1288,0.00,2.78,0.00,0.000,6,0.000,0.099,2358,2103,3884
$GC,1478,-0.77,-97.8,76.4,-5.1,142,1482,0.00,2.85,0.00,0.000,4,0.000,0.124,2358,3515,3884
$GC,1569,-0.77,-97.8,82.0,-6.1,148,1576,0.00,2.90,0.00,0.000,6,0.000,0.116,2357,2086,3884
$GC,1765,-0.77,-97.8,92.3,-5.0,164,1770,0.00,2.92,0.00,0.000,4,0.000,0.138,2357,671,3884
$GC,1803,-0.77,-97.8,94.4,-5.8,166,1810,0.00,2.80,0.00,0.000,6,0.000,0.098,2357,2108,3884
$STATE,1922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1922,begin apogee
$GC,1927,-0.31,0.0,100.5,5.0,176,2009,0.52,0.00,77.05,0.742,6,0.130,0.000,2458,2109,3484
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2012,0.77,97.8,102.5,0.0,183,2098,1.15,3.00,75.50,0.724,4,0.102,0.120,2692,673,3085
$GC,2156,0.83,154.3,97.6,6.2,194,2204,0.00,2.75,43.35,0.722,6,0.000,0.078,2692,2106,2855
$GC,2395,0.83,154.8,80.8,7.4,213,2400,0.00,2.85,0.00,0.000,4,0.000,0.119,2693,3517,2855
$GC,2440,0.83,154.8,77.0,8.2,216,2445,0.00,2.80,0.00,0.000,6,0.000,0.095,2692,2089,2855
$GC,2636,0.83,154.8,62.1,7.5,231,2640,0.00,2.85,0.00,0.000,4,0.000,0.127,2692,685,2855
$GC,2701,0.83,154.8,56.9,8.1,236,2706,0.00,2.70,0.00,0.000,6,0.000,0.081,2693,2112,2855
$GC,2897,0.85,172.5,42.7,7.0,251,2916,0.00,3.03,13.57,0.723,4,0.000,0.123,2692,685,2780
$GC,2934,0.85,172.5,39.7,7.5,253,2941,0.00,2.72,0.00,0.000,6,0.000,0.082,2693,2101,2780
$GC,3131,0.85,175.2,25.0,7.4,269,3143,0.10,2.88,2.10,0.802,4,0.077,0.120,2718,3523,2767
$GC,3169,0.85,175.2,21.7,9.4,272,3173,0.00,2.78,0.00,0.000,6,0.000,0.089,2718,2087,2767
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FINISH,1.5,1.021783
$STATE,3425,end surface coast,CONTROL_FINISHED_OK
$STATE,3425,begin surface
$SM_CCo,3447,144.52,0.649,0,0,1648,450.13
$SM_GC,1.23,0.00,0.00,144.52,0.000,0.000,0.649,38,2075,1648,-11.46,-0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.8,31.571
$10V_AH,10.2,8.171
$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,27.900,74.350,211.575,144.525,0.000,32.579,31.254,83.817,3.250,0.000,0.000,33.936,602.760,1915.905,490.824,581.301,300.030,33.344,850.157,0.000,560.666,0.000,5.347
$DEVICE_MAMPS,200.954,139.594,802.282,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9574,309
$CFSIZE,260034560,250306560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,021517,4739.527,-12252.680,13,2.2,32,18.3