version: 66.02
glider: 22
mission: 2
dive: 279
start: 9 30 107 12 8 32
data:
$ID,22
$MISSION,2
$DIVE,279
$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,-115378.34
$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,10
$R_STBD_OVSHOOT,12
$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
$GPS1,120217,4739.475,-12252.426,14,2.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.1
$GPS2,120707,4739.539,-12252.355,16,1.0,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.285,-0.029
$KALMAN_X,36350.8,656.7,196.2,-36421.4,-102.5
$KALMAN_Y,9429.0,614.8,230.7,-10563.3,-27.9
$MHEAD_RNG_PITCHd_Wd,245.9,1065,-10.5,-7.407
$D_GRID,124
$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,-0.77,-97.8,0.0,0.0,0,94,0.00,0.00,-67.25,0.000,2,0.000,0.000,36,2109,3057
$GC,97,-0.77,-97.8,2.4,-3.1,11,153,13.68,3.08,-31.00,0.000,4,0.198,0.146,2356,676,3883
$GC,192,-0.77,-97.8,8.4,-7.8,26,198,0.00,2.80,0.00,0.000,6,0.000,0.099,2356,2100,3883
$GC,264,-0.77,-97.8,12.2,-5.2,37,270,0.00,2.88,0.00,0.000,4,0.000,0.124,2356,3513,3883
$GC,374,-0.77,-97.8,23.0,-10.9,52,382,0.00,2.88,0.00,0.000,6,0.000,0.110,2356,2100,3884
$GC,571,-0.77,-97.8,37.3,-6.9,68,576,0.00,2.97,0.00,0.000,4,0.000,0.137,2355,669,3884
$GC,631,-0.77,-97.8,41.2,-7.0,72,635,0.00,2.83,0.00,0.000,6,0.000,0.100,2356,2105,3884
$GC,826,-0.77,-97.8,53.9,-6.6,87,831,0.00,2.85,0.00,0.000,4,0.000,0.126,2356,3516,3884
$GC,900,-0.77,-97.8,58.9,-7.1,92,904,0.00,2.90,0.00,0.000,6,0.000,0.114,2356,2084,3886
$GC,1095,-0.77,-97.8,71.1,-6.0,107,1100,0.00,2.92,0.00,0.000,4,0.000,0.137,2355,668,3885
$GC,1128,-0.77,-97.8,73.2,-6.4,109,1132,0.00,2.80,0.00,0.000,6,0.000,0.100,2356,2098,3885
$GC,1323,-0.77,-97.8,84.6,-5.7,124,1328,0.00,2.88,0.00,0.000,4,0.000,0.127,2356,3511,3885
$GC,1396,-0.77,-97.8,89.3,-6.3,129,1400,0.00,2.90,0.00,0.000,6,0.000,0.116,2356,2084,3885
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1582,-0.31,0.0,100.0,5.7,143,1663,0.52,0.00,77.07,0.733,6,0.120,0.000,2458,2117,3484
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1667,0.77,97.8,102.5,0.0,150,1750,1.15,0.00,75.70,0.716,6,0.100,0.000,2693,2117,3085
$GC,1940,0.85,173.4,90.6,5.8,172,2005,0.10,3.08,58.15,0.712,4,0.071,0.125,2720,678,2777
$GC,2098,0.85,173.4,76.8,9.3,184,2105,0.00,2.75,0.00,0.000,6,0.000,0.082,2720,2105,2777
$GC,2294,0.85,173.4,58.3,9.6,200,2299,0.00,2.92,0.00,0.000,4,0.000,0.121,2719,680,2777
$GC,2359,0.85,173.4,51.7,9.7,204,2366,0.00,2.75,0.00,0.000,6,0.000,0.083,2719,2108,2777
$GC,2555,0.85,173.4,32.3,9.6,220,2560,0.00,2.83,0.00,0.000,4,0.000,0.117,2720,3517,2777
$GC,2593,0.85,173.4,28.0,11.2,222,2601,0.00,2.80,0.00,0.000,6,0.000,0.090,2720,2089,2777
$GC,2795,0.85,173.4,8.7,9.2,246,2801,0.00,2.85,0.00,0.000,4,0.000,0.123,2720,680,2778
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,0.6,1.022314
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2919,begin surface
$SM_CCo,2942,141.77,0.644,0,0,1649,450.13
$SM_GC,1.18,0.00,0.00,141.77,0.000,0.000,0.644,38,2106,1649,-11.47,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2071
$TCM_TEMP,19.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,50.6,8.0
$24V_AH,23.9,32.466
$10V_AH,10.2,8.425
$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,27.700,57.500,210.925,141.775,0.000,32.588,42.953,107.859,2.750,0.000,0.000,32.443,517.555,1611.130,480.200,487.450,326.778,33.341,783.337,0.000,474.350,0.000,5.347
$DEVICE_MAMPS,197.886,145.730,733.252,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6469,265
$CFSIZE,260034560,250044416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,130102,4739.564,-12252.819,13,1.4,30,18.3