version: 66.02
glider: 22
mission: 2
dive: 286
start: 9 30 107 20 20 39
data:
$ID,22
$MISSION,2
$DIVE,286
$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,693.21777
$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,-115564.39
$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,13
$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
$GPS1,200327,4739.620,-12252.029,12,1.4,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.0
$GPS2,201914,4739.751,-12251.744,14,1.4,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,-0.148
$KALMAN_X,39516.3,329.8,337.6,-38642.7,274.8
$KALMAN_Y,12209.6,307.1,248.6,-12659.5,151.2
$MHEAD_RNG_PITCHd_Wd,220.5,975,-10.5,-7.407
$D_GRID,123
$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,-67.10,0.000,2,0.000,0.000,35,2075,3012
$GC,97,-0.77,-97.8,2.1,-2.1,11,153,13.70,0.00,-37.47,0.000,6,0.199,0.000,2361,2075,3883
$GC,218,-0.77,-97.8,7.8,-7.1,30,225,0.00,2.95,0.00,0.000,4,0.000,0.123,2360,3517,3883
$GC,271,-0.77,-97.8,11.1,-6.4,38,277,0.00,2.88,0.00,0.000,6,0.000,0.111,2359,2093,3883
$GC,343,-0.77,-97.8,15.3,-5.5,49,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2093,3884
$GC,416,-0.77,-97.8,18.8,-5.4,60,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2093,3884
$GC,492,-0.77,-97.8,22.2,-4.4,68,497,0.00,2.95,0.00,0.000,4,0.000,0.138,2359,671,3884
$GC,525,-0.77,-97.8,23.9,-5.7,70,529,0.00,2.80,0.00,0.000,6,0.000,0.098,2359,2104,3884
$GC,720,-0.77,-97.8,33.3,-4.8,85,724,0.00,2.90,0.00,0.000,4,0.000,0.128,2360,3519,3884
$GC,794,-0.77,-97.8,37.3,-6.2,90,799,0.00,2.90,0.00,0.000,6,0.000,0.114,2359,2089,3883
$GC,989,-0.77,-97.8,47.4,-5.1,105,994,0.00,2.95,0.00,0.000,4,0.000,0.140,2359,673,3884
$GC,1048,-0.77,-97.8,50.4,-5.2,109,1053,0.00,2.80,0.00,0.000,6,0.000,0.099,2359,2107,3884
$GC,1244,-0.77,-97.8,59.3,-4.4,124,1249,0.00,2.88,0.00,0.000,4,0.000,0.127,2359,3517,3884
$GC,1343,-0.77,-97.8,64.2,-5.3,131,1347,0.00,2.90,0.00,0.000,6,0.000,0.114,2359,2084,3884
$GC,1538,-0.77,-97.8,72.6,-4.2,146,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2084,3884
$GC,1729,-0.77,-97.8,81.0,-4.6,161,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2084,3884
$GC,1919,-0.77,-97.8,89.9,-4.8,176,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2084,3884
$GC,2108,-0.77,-97.8,98.4,-4.7,191,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2084,3884
$STATE,2141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2141,begin apogee
$GC,2148,-0.31,0.0,100.1,4.6,194,2229,0.50,0.00,76.97,0.741,6,0.124,0.000,2455,2117,3484
$STATE,2230,end apogee,CONTROL_FINISHED_OK
$STATE,2230,begin climb
$GC,2232,0.77,97.8,101.6,0.0,201,2313,1.17,0.00,76.55,0.725,6,0.097,0.000,2694,2117,3085
$GC,2502,0.81,136.5,87.5,6.6,223,2539,0.00,3.05,29.58,0.729,4,0.000,0.127,2695,684,2927
$GC,2612,0.81,136.5,79.0,8.2,231,2619,0.00,2.70,0.00,0.000,6,0.000,0.082,2694,2104,2927
$GC,2807,0.81,140.0,64.3,7.3,247,2819,0.00,2.92,2.40,0.802,4,0.000,0.119,2694,3517,2913
$GC,2858,0.81,140.0,60.2,8.4,251,2863,0.00,2.80,0.00,0.000,6,0.000,0.094,2694,2090,2913
$GC,3054,0.82,148.9,46.0,7.2,266,3067,0.00,2.92,6.70,0.750,4,0.000,0.129,2694,676,2875
$GC,3139,0.87,194.3,40.1,6.4,272,3183,0.12,2.72,34.78,0.709,6,0.067,0.084,2729,2102,2690
$GC,3372,0.87,194.3,17.3,10.9,292,3378,0.00,2.90,0.00,0.000,4,0.000,0.118,2729,674,2690
$GC,3424,0.87,194.3,10.9,12.7,300,3430,0.00,2.72,0.00,0.000,6,0.000,0.084,2730,2106,2690
$STATE,3494,end climb,SURFACE_DEPTH_REACHED
$STATE,3494,begin surface coast
$FINISH,0.5,1.021761
$STATE,3554,end surface coast,CONTROL_FINISHED_OK
$STATE,3555,begin surface
$SM_CCo,3576,250.70,0.634,0,0,659,693.22
$SM_GC,1.07,0.00,0.00,250.70,0.000,0.000,0.634,35,2111,659,-11.48,0.48,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2048
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.8,33.146
$10V_AH,10.2,8.620
$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,27.800,51.725,226.975,250.700,0.000,162.982,439.233,0.000,2.250,0.000,0.000,31.254,614.033,2270.162,606.711,566.059,764.915,33.346,952.233,0.000,550.956,0.000,5.352
$DEVICE_MAMPS,198.653,139.594,801.515,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,211.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9578,320
$CFSIZE,260034560,249823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,212544,4739.626,-12252.080,32,1.5,43,18.3