version: 66.02
glider: 22
mission: 2
dive: 273
start: 9 30 107 5 59 31
data:
$ID,22
$MISSION,2
$DIVE,273
$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,-115218.67
$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,7
$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
$GPS1,055329,4739.792,-12251.610,12,2.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.0
$GPS2,055807,4739.861,-12251.519,17,1.5,33,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,-0.186
$KALMAN_X,34292.2,410.4,113.8,-32996.1,422.5
$KALMAN_Y,7674.4,489.3,6.4,-7862.9,390.6
$MHEAD_RNG_PITCHd_Wd,211.3,1321,-10.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.77,-97.8,0.0,0.0,0,144,0.00,0.00,-114.60,0.000,2,0.000,0.000,36,2106,3056
$GC,147,-0.77,-97.8,2.4,-3.7,19,203,13.70,2.92,-33.85,0.000,4,0.199,0.139,2356,3515,3883
$GC,222,-0.77,-97.8,5.9,-7.6,31,228,0.00,2.90,0.00,0.000,6,0.000,0.114,2355,2094,3884
$GC,294,-0.77,-97.8,10.5,-5.6,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2093,3886
$GC,367,-0.77,-97.8,14.4,-6.0,53,373,0.00,2.92,0.00,0.000,4,0.000,0.122,2356,3515,3887
$GC,454,-0.77,-97.8,19.6,-6.1,66,460,0.00,2.90,0.00,0.000,6,0.000,0.114,2356,2083,3887
$GC,523,-0.77,-97.8,23.5,-5.2,72,528,0.00,2.95,0.00,0.000,4,0.000,0.143,2355,679,3888
$GC,542,-0.77,-97.8,24.7,-5.8,73,547,0.00,2.80,0.00,0.000,6,0.000,0.099,2356,2110,3888
$GC,738,-0.77,-97.8,35.2,-5.4,88,742,0.00,2.85,0.00,0.000,4,0.000,0.124,2355,3513,3889
$GC,802,-0.77,-97.8,39.1,-5.7,92,809,0.00,2.88,0.00,0.000,6,0.000,0.113,2356,2093,3889
$GC,999,-0.77,-97.8,50.0,-5.7,108,1008,0.00,2.92,0.00,0.000,4,0.000,0.138,2356,677,3888
$GC,1028,-0.77,-97.8,51.7,-5.9,110,1032,0.00,2.78,0.00,0.000,6,0.000,0.100,2355,2103,3890
$GC,1230,-0.77,-97.8,63.9,-6.1,126,1235,0.00,2.88,0.00,0.000,4,0.000,0.125,2356,3518,3890
$GC,1308,-0.77,-97.8,68.9,-6.5,131,1315,0.00,2.90,0.00,0.000,6,0.000,0.115,2356,2087,3890
$GC,1505,-0.77,-97.8,80.3,-5.6,147,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2087,3890
$GC,1697,-0.77,-97.8,90.2,-5.5,162,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2087,3890
$STATE,1855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1855,begin apogee
$GC,1861,-0.31,0.0,100.0,6.2,175,1942,0.55,0.00,75.55,0.730,6,0.128,0.000,2461,2117,3484
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1946,0.77,97.8,101.9,0.0,182,2031,1.15,3.03,77.80,0.721,4,0.096,0.123,2694,680,3085
$GC,2054,0.89,214.5,98.7,4.9,191,2152,0.15,2.72,90.38,0.705,6,0.062,0.077,2734,2111,2610
$GC,2342,0.89,214.5,70.1,10.3,214,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2111,2609
$GC,2530,0.89,214.5,50.0,10.8,229,2535,0.00,2.95,0.00,0.000,4,0.000,0.122,2734,672,2609
$GC,2576,0.89,214.5,44.7,10.9,232,2581,0.00,2.72,0.00,0.000,6,0.000,0.079,2734,2115,2609
$GC,2771,0.89,214.5,24.6,10.5,247,2776,0.00,2.95,0.00,0.000,4,0.000,0.122,2734,676,2609
$GC,2797,0.89,214.5,21.7,11.1,248,2804,0.00,2.72,0.00,0.000,6,0.000,0.082,2734,2110,2609
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2953,begin surface coast
$FINISH,0.6,1.021314
$STATE,3002,end surface coast,CONTROL_FINISHED_OK
$STATE,3002,begin surface
$SM_CCo,3023,126.90,0.644,0,0,1647,450.13
$SM_GC,1.32,0.00,0.00,126.90,0.000,0.000,0.644,36,2072,1647,-11.47,-0.65,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2068
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,50.3,8.1
$24V_AH,23.8,31.974
$10V_AH,10.2,8.283
$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,27.725,51.850,243.725,126.900,0.000,32.591,33.218,106.067,3.500,0.000,0.000,33.643,522.923,1623.538,519.182,492.655,317.358,33.352,843.074,0.000,475.423,0.000,5.373
$DEVICE_MAMPS,198.653,142.662,730.184,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,278
$CFSIZE,260034560,250204160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,065305,4739.788,-12251.513,8,7.5,27,18.3