version: 66.02
glider: 22
mission: 2
dive: 275
start: 9 30 107 7 56 31
data:
$ID,22
$MISSION,2
$DIVE,275
$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,-115281.35
$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,10
$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
$GPS1,075038,4739.763,-12251.483,11,1.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.1
$GPS2,075508,4739.843,-12251.360,13,1.4,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.244,-0.151
$KALMAN_X,35162.3,583.5,408.6,-34132.1,310.9
$KALMAN_Y,8161.5,613.5,303.6,-8801.0,220.7
$MHEAD_RNG_PITCHd_Wd,220.0,1474,-10.5,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-97.8,0.0,0.0,0,84,0.00,0.00,-55.62,0.000,2,0.000,0.000,36,2073,2842
$GC,87,-0.77,-97.8,2.3,-2.9,9,155,13.70,3.00,-43.90,0.000,4,0.199,0.154,2356,685,3884
$GC,168,-0.77,-97.8,5.1,-6.5,22,174,0.00,2.78,0.00,0.000,6,0.000,0.096,2356,2102,3884
$GC,240,-0.77,-97.8,8.6,-4.3,33,246,0.00,3.00,0.00,0.000,4,0.000,0.135,2356,673,3885
$GC,279,-0.77,-97.8,10.6,-5.8,39,285,0.00,2.83,0.00,0.000,6,0.000,0.100,2356,2108,3885
$GC,351,-0.77,-97.8,14.5,-5.7,50,357,0.00,2.88,0.00,0.000,4,0.000,0.127,2357,3515,3885
$GC,417,-0.77,-97.8,18.5,-6.4,60,423,0.00,2.88,0.00,0.000,6,0.000,0.113,2356,2093,3886
$GC,487,-0.77,-97.8,22.5,-6.0,68,492,0.00,2.97,0.00,0.000,4,0.000,0.140,2356,669,3886
$GC,512,-0.77,-97.8,24.3,-6.4,69,519,0.00,2.80,0.00,0.000,6,0.000,0.100,2356,2098,3886
$GC,709,-0.77,-97.8,36.6,-6.4,85,713,0.00,2.88,0.00,0.000,4,0.000,0.125,2357,3519,3886
$GC,773,-0.77,-97.8,40.9,-6.4,89,780,0.00,2.90,0.00,0.000,6,0.000,0.112,2356,2085,3886
$GC,969,-0.77,-97.8,52.0,-5.5,105,974,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,669,3887
$GC,994,-0.77,-97.8,53.4,-5.5,106,1001,0.00,2.80,0.00,0.000,6,0.000,0.098,2356,2105,3886
$GC,1191,-0.77,-97.8,63.6,-5.3,122,1196,0.00,2.85,0.00,0.000,4,0.000,0.126,2357,3510,3886
$GC,1255,-0.77,-97.8,67.5,-6.5,126,1263,0.00,2.88,0.00,0.000,6,0.000,0.114,2356,2091,3886
$GC,1452,-0.77,-97.8,77.3,-4.9,142,1457,0.00,2.92,0.00,0.000,4,0.000,0.137,2356,679,3886
$GC,1478,-0.77,-97.8,78.6,-5.2,143,1484,0.00,2.80,0.00,0.000,6,0.000,0.099,2356,2109,3887
$GC,1673,-0.77,-97.8,88.6,-5.4,159,1678,0.00,2.83,0.00,0.000,4,0.000,0.123,2357,3510,3887
$GC,1738,-0.77,-97.8,92.4,-6.6,163,1745,0.00,2.88,0.00,0.000,6,0.000,0.115,2356,2092,3886
$STATE,1882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1882,begin apogee
$GC,1887,-0.31,0.0,100.2,5.4,175,1969,0.52,0.00,76.90,0.735,6,0.131,0.000,2456,2090,3484
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1972,0.77,97.8,102.3,0.0,182,2058,1.15,2.95,76.10,0.715,4,0.101,0.109,2691,3526,3084
$GC,2103,0.79,123.9,96.4,6.9,192,2128,0.00,2.83,19.88,0.721,6,0.000,0.089,2692,2088,2978
$GC,2317,0.79,123.9,80.6,7.5,209,2322,0.00,2.90,0.00,0.000,4,0.000,0.130,2691,677,2978
$GC,2422,0.79,123.9,72.2,8.0,216,2429,0.00,2.72,0.00,0.000,6,0.000,0.078,2691,2105,2978
$GC,2618,0.82,146.4,58.3,6.9,232,2637,0.00,0.00,16.75,0.719,6,0.000,0.000,2691,2105,2886
$GC,2820,0.83,155.4,43.8,7.2,248,2832,0.00,0.00,7.20,0.735,6,0.000,0.000,2691,2105,2848
$GC,3021,0.83,155.4,28.3,8.0,264,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,2848
$GC,3214,0.85,177.0,14.0,7.0,285,3239,0.12,2.97,15.65,0.703,4,0.074,0.120,2721,687,2761
$GC,3266,0.85,177.0,9.4,9.6,293,3272,0.00,2.67,0.00,0.000,6,0.000,0.078,2721,2105,2761
$STATE,3309,end climb,SURFACE_DEPTH_REACHED
$STATE,3309,begin surface coast
$FINISH,1.6,1.020572
$STATE,3357,end surface coast,CONTROL_FINISHED_OK
$STATE,3357,begin surface
$SM_CCo,3378,150.77,0.646,0,0,1649,450.37
$SM_GC,1.35,0.00,0.00,150.77,0.000,0.000,0.646,39,2105,1649,-11.46,0.28,450.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2062
$TCM_TEMP,19.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,50.6,7.9
$24V_AH,23.9,32.143
$10V_AH,10.2,8.331
$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,27.900,68.850,212.475,150.775,0.000,32.598,34.698,99.563,3.250,0.000,0.000,30.536,591.083,1877.211,509.702,543.958,324.191,33.346,854.159,0.000,532.487,0.000,7.062
$DEVICE_MAMPS,198.653,154.167,734.786,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9584,307
$CFSIZE,260034560,250142720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,085637,4739.803,-12251.547,32,1.3,42,18.3