version: 66.02
glider: 22
mission: 2
dive: 287
start: 9 30 107 21 38 43
data:
$ID,22
$MISSION,2
$DIVE,287
$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,-115595.55
$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,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
$GPS1,212544,4739.626,-12252.080,32,1.5,43,18.3
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.2
$GPS2,213720,4739.729,-12251.958,13,1.4,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.220,-0.184
$KALMAN_X,39768.8,322.7,473.5,-39285.9,88.0
$KALMAN_Y,12479.3,287.7,325.9,-13028.9,55.7
$MHEAD_RNG_PITCHd_Wd,211.8,736,-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,-97.8,0.0,0.0,0,150,0.00,0.00,-122.22,0.000,2,0.000,0.000,35,2112,3143
$GC,153,-0.77,-97.8,2.4,-3.4,20,203,13.68,2.95,-30.20,0.000,4,0.199,0.140,2356,3508,3882
$GC,236,-0.77,-97.8,6.1,-6.7,33,243,0.00,2.88,0.00,0.000,6,0.000,0.111,2356,2088,3883
$GC,309,-0.77,-97.8,11.1,-7.3,44,315,0.00,2.92,0.00,0.000,4,0.000,0.137,2356,680,3883
$GC,328,-0.77,-97.8,12.6,-7.6,47,334,0.00,2.80,0.00,0.000,6,0.000,0.102,2356,2094,3883
$GC,400,-0.77,-97.8,17.7,-6.9,58,406,0.00,2.92,0.00,0.000,4,0.000,0.130,2355,3516,3884
$GC,498,-0.77,-97.8,24.8,-7.0,68,505,0.00,2.88,0.00,0.000,6,0.000,0.108,2356,2085,3885
$GC,694,-0.77,-97.8,37.1,-6.2,84,699,0.00,2.92,0.00,0.000,4,0.000,0.137,2356,674,3886
$GC,739,-0.77,-97.8,40.0,-6.6,87,744,0.00,2.80,0.00,0.000,6,0.000,0.100,2355,2101,3886
$GC,935,-0.77,-97.8,52.3,-6.3,102,939,0.00,2.90,0.00,0.000,4,0.000,0.128,2356,3516,3886
$GC,1009,-0.77,-97.8,57.0,-6.8,107,1013,0.00,2.88,0.00,0.000,6,0.000,0.111,2355,2090,3887
$GC,1204,-0.77,-97.8,67.8,-5.4,122,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3887
$GC,1397,-0.77,-97.8,77.5,-5.2,137,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3886
$GC,1583,-0.77,-97.8,87.1,-5.0,152,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3886
$GC,1773,-0.77,-97.8,97.0,-5.0,167,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3886
$STATE,1844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1844,begin apogee
$GC,1850,-0.31,0.0,100.4,4.6,173,1926,0.52,0.00,73.35,0.737,6,0.130,0.000,2455,2088,3485
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1930,0.77,97.8,101.3,0.0,179,2012,1.15,0.00,78.05,0.723,6,0.102,0.000,2690,2084,3085
$GC,2197,0.83,153.3,87.4,6.2,201,2245,0.00,0.00,42.95,0.718,6,0.000,0.000,2690,2084,2858
$GC,2435,0.83,153.3,68.9,8.2,220,2439,0.00,2.83,0.00,0.000,4,0.000,0.114,2690,671,2859
$GC,2480,0.83,153.3,64.9,8.9,223,2485,0.00,2.72,0.00,0.000,6,0.000,0.078,2690,2109,2858
$GC,2676,0.83,153.3,49.0,8.3,238,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2109,2858
$GC,2869,0.83,160.7,34.5,7.3,253,2881,0.00,2.90,5.38,0.734,4,0.000,0.113,2690,681,2828
$GC,2913,0.83,160.7,30.6,8.2,256,2920,0.00,2.72,0.00,0.000,6,0.000,0.078,2690,2107,2828
$GC,3112,0.84,166.7,16.6,7.3,275,3119,0.10,0.00,4.00,0.737,6,0.082,0.000,2711,2107,2804
$GC,3186,0.85,175.4,11.3,7.2,286,3198,0.00,0.00,6.65,0.722,6,0.000,0.000,2711,2107,2769
$GC,3264,0.85,175.4,5.6,7.9,298,3271,0.00,2.90,0.00,0.000,4,0.000,0.122,2712,686,2769
$STATE,3275,end climb,SURFACE_DEPTH_REACHED
$STATE,3276,begin surface coast
$FINISH,0.5,1.011346
$STATE,3349,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3373,145.02,0.647,0,0,1649,450.13
$SM_GC,1.14,0.00,0.00,145.02,0.000,0.000,0.647,37,2108,1649,-11.47,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2084
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.6,7.9
$24V_AH,23.8,33.240
$10V_AH,10.2,8.649
$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,27.625,45.750,210.375,145.025,0.000,97.753,160.773,208.379,3.000,0.000,0.000,30.542,581.314,2010.022,521.008,520.370,627.238,33.347,844.789,0.000,507.167,0.000,5.349
$DEVICE_MAMPS,198.653,139.594,737.087,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9577,311
$CFSIZE,260034560,249802752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,223829,4739.565,-12252.319,13,3.7,32,18.3