version: 66.02
glider: 22
mission: 2
dive: 270
start: 9 30 107 2 34 22
data:
$ID,22
$MISSION,2
$DIVE,270
$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,-115130.37
$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,9
$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
$GPS1,021517,4739.527,-12252.680,13,2.2,32,18.3
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.1
$GPS2,023259,4739.727,-12252.403,15,2.4,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.017,-0.276
$KALMAN_X,32589.2,229.5,-53.8,-32043.7,40.7
$KALMAN_Y,6189.9,211.1,-113.0,-6232.0,81.3
$MHEAD_RNG_PITCHd_Wd,165.2,481,-11.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.80,-97.8,0.0,0.0,0,101,0.00,0.00,-73.05,0.000,2,0.000,0.000,38,2073,3155
$GC,105,-0.80,-97.8,2.4,-3.5,12,154,13.65,2.92,-28.60,0.000,4,0.199,0.131,2348,3511,3882
$GC,247,-0.80,-97.8,10.4,-6.3,34,253,0.00,2.88,0.00,0.000,6,0.000,0.111,2348,2085,3884
$GC,319,-0.80,-97.8,14.6,-5.4,45,325,0.00,2.92,0.00,0.000,4,0.000,0.138,2347,679,3884
$GC,384,-0.80,-97.8,18.7,-6.7,55,391,0.00,2.78,0.00,0.000,6,0.000,0.098,2347,2100,3885
$GC,461,-0.80,-97.8,23.3,-6.0,63,466,0.00,2.90,0.00,0.000,4,0.000,0.127,2348,3519,3885
$GC,507,-0.80,-97.8,26.4,-6.9,66,511,0.00,2.90,0.00,0.000,6,0.000,0.113,2347,2085,3885
$GC,702,-0.80,-97.8,39.6,-7.0,81,707,0.00,2.92,0.00,0.000,4,0.000,0.137,2347,676,3885
$GC,740,-0.80,-97.8,42.3,-7.0,83,747,0.00,2.80,0.00,0.000,6,0.000,0.099,2348,2094,3885
$GC,937,-0.80,-97.8,55.7,-6.9,99,942,0.00,2.90,0.00,0.000,4,0.000,0.128,2348,3512,3885
$GC,1022,-0.80,-97.8,62.0,-7.0,105,1027,0.00,2.88,0.00,0.000,6,0.000,0.114,2348,2088,3885
$GC,1218,-0.80,-97.8,74.0,-6.2,120,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2088,3885
$GC,1410,-0.80,-97.8,85.8,-6.8,135,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2088,3885
$GC,1598,-0.80,-97.8,97.6,-6.0,150,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2088,3885
$STATE,1644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1645,begin apogee
$GC,1650,-0.31,0.0,100.4,5.7,154,1732,0.57,0.00,77.07,0.737,6,0.127,0.000,2458,2117,3484
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.80,97.8,102.4,0.0,161,1821,1.17,3.03,75.80,0.719,4,0.097,0.121,2700,674,3085
$GC,1866,0.86,147.2,97.6,6.3,171,1910,0.00,2.72,37.72,0.717,6,0.000,0.077,2700,2096,2883
$GC,2099,0.86,147.2,80.5,7.9,190,2104,0.00,2.88,0.00,0.000,4,0.000,0.117,2700,3523,2882
$GC,2144,0.86,147.2,76.5,8.9,193,2149,0.00,2.80,0.00,0.000,6,0.000,0.094,2701,2088,2882
$GC,2340,0.86,151.1,61.3,7.3,208,2352,0.00,2.92,2.80,0.775,4,0.000,0.123,2700,680,2868
$GC,2397,0.86,151.1,56.8,7.6,212,2404,0.00,2.72,0.00,0.000,6,0.000,0.081,2701,2102,2868
$GC,2594,0.89,178.6,43.7,6.8,228,2618,0.10,0.00,20.92,0.714,6,0.076,0.000,2722,2102,2755
$GC,2807,0.89,178.6,24.3,9.6,245,2812,0.00,2.88,0.00,0.000,4,0.000,0.118,2723,684,2755
$GC,2845,0.89,178.6,20.2,10.6,247,2852,0.00,2.70,0.00,0.000,6,0.000,0.081,2723,2102,2754
$STATE,3015,end climb,SURFACE_DEPTH_REACHED
$STATE,3015,begin surface coast
$FINISH,1.4,1.021769
$STATE,3077,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3099,148.98,0.648,0,0,1648,450.13
$SM_GC,1.27,0.00,0.00,148.98,0.000,0.000,0.648,38,2106,1648,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2068
$TCM_TEMP,19.80
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,50.5,7.9
$24V_AH,23.9,31.681
$10V_AH,10.2,8.203
$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,27.975,51.500,214.325,148.975,0.000,130.368,252.433,346.500,8.500,0.000,0.000,35.058,546.324,1897.907,485.121,507.867,919.434,33.347,798.971,0.000,489.197,0.000,5.353
$DEVICE_MAMPS,199.420,138.060,774.670,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,282
$CFSIZE,260034560,250286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,032935,4739.546,-12252.192,10,4.2,29,18.3