version: 66.02
glider: 22
mission: 2
dive: 284
start: 9 30 107 17 49 32
data:
$ID,22
$MISSION,2
$DIVE,284
$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,-115496.97
$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,8
$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
$GPS1,173303,4739.526,-12252.227,13,1.8,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.6
$GPS2,174807,4739.716,-12251.883,16,1.9,26,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.179
$KALMAN_X,38533.5,381.8,-54.2,-37500.3,280.0
$KALMAN_Y,11509.5,349.6,-15.4,-11808.1,251.5
$MHEAD_RNG_PITCHd_Wd,213.0,795,-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,-67.18,0.000,2,0.000,0.000,36,2114,3031
$GC,97,-0.77,-97.8,2.1,-2.7,11,152,13.68,0.00,-35.85,0.000,6,0.199,0.000,2357,2114,3883
$GC,218,-0.77,-97.8,8.0,-7.0,30,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2112,3883
$GC,290,-0.77,-97.8,11.8,-4.8,41,296,0.00,2.85,0.00,0.000,4,0.000,0.125,2356,3508,3883
$GC,349,-0.77,-97.8,15.1,-5.9,50,355,0.00,2.88,0.00,0.000,6,0.000,0.112,2358,2088,3884
$GC,421,-0.77,-97.8,18.8,-5.0,61,428,0.00,2.92,0.00,0.000,4,0.000,0.138,2357,680,3884
$GC,466,-0.77,-97.8,20.9,-5.0,67,473,0.00,2.78,0.00,0.000,6,0.000,0.098,2357,2100,3884
$GC,662,-0.77,-97.8,31.7,-5.6,83,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2101,3884
$GC,853,-0.77,-97.8,40.9,-4.2,98,858,0.00,2.88,0.00,0.000,4,0.000,0.127,2357,3512,3884
$GC,939,-0.77,-97.8,45.5,-6.3,104,943,0.00,2.88,0.00,0.000,6,0.000,0.113,2357,2084,3884
$GC,1134,-0.77,-97.8,56.7,-5.6,119,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3885
$GC,1325,-0.77,-97.8,67.3,-5.9,134,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3885
$GC,1514,-0.77,-97.8,78.9,-6.0,149,1519,0.00,2.95,0.00,0.000,4,0.000,0.123,2357,3519,3885
$GC,1539,-0.77,-97.8,80.5,-5.8,150,1546,0.00,2.90,0.00,0.000,6,0.000,0.115,2357,2088,3885
$GC,1736,-0.77,-97.8,90.4,-4.9,166,1740,0.00,2.92,0.00,0.000,4,0.000,0.139,2357,679,3885
$GC,1774,-0.77,-97.8,92.4,-5.7,168,1781,0.00,2.78,0.00,0.000,6,0.000,0.098,2357,2106,3885
$STATE,1917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1917,begin apogee
$GC,1924,-0.31,0.0,100.2,5.2,180,2005,0.52,0.00,77.00,0.739,6,0.129,0.000,2457,2105,3483
$STATE,2006,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2008,0.77,97.8,101.9,0.0,187,2094,1.15,3.00,76.10,0.721,4,0.097,0.120,2693,677,3085
$GC,2178,0.81,135.0,94.0,6.6,200,2214,0.00,2.75,28.70,0.723,6,0.000,0.081,2693,2106,2932
$GC,2411,0.81,135.0,76.9,8.5,219,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2106,2932
$GC,2602,0.81,135.0,62.2,7.7,234,2607,0.00,2.92,0.00,0.000,4,0.000,0.122,2693,677,2933
$GC,2627,0.82,147.8,60.3,7.1,235,2646,0.00,2.70,9.55,0.737,6,0.000,0.081,2693,2105,2880
$GC,2834,0.82,147.8,44.0,7.5,252,2839,0.00,2.85,0.00,0.000,4,0.000,0.120,2693,3512,2881
$GC,2867,0.82,147.8,41.4,8.2,254,2872,0.00,2.78,0.00,0.000,6,0.000,0.095,2693,2094,2880
$GC,3063,0.84,168.0,27.5,7.0,269,3087,0.00,2.97,14.98,0.711,4,0.000,0.126,2693,684,2799
$GC,3175,0.84,168.0,18.5,8.2,278,3181,0.00,2.70,0.00,0.000,6,0.000,0.079,2693,2109,2798
$GC,3246,0.84,168.0,12.6,8.5,289,3253,0.00,2.88,0.00,0.000,4,0.000,0.126,2693,3518,2798
$GC,3267,0.84,168.0,10.8,8.8,292,3273,0.00,2.83,0.00,0.000,6,0.000,0.099,2693,2089,2798
$STATE,3337,end climb,SURFACE_DEPTH_REACHED
$STATE,3337,begin surface coast
$FINISH,0.5,1.006952
$STATE,3418,end surface coast,CONTROL_FINISHED_OK
$STATE,3418,begin surface
$SM_CCo,3439,265.25,0.635,1,0,657,693.22
$SM_GC,1.08,0.00,0.00,265.25,0.000,0.000,0.635,32,2077,657,-11.49,-0.51,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2057
$TCM_TEMP,19.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.9,32.940
$10V_AH,10.2,8.560
$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,27.350,57.100,206.325,265.250,0.000,163.034,401.868,0.000,2.750,0.000,0.000,26.038,600.496,2171.978,611.231,552.532,725.872,33.349,955.677,0.000,542.494,0.000,5.353
$DEVICE_MAMPS,198.653,138.827,739.388,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,208.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9576,315
$CFSIZE,260034560,249880576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300907,185234,4739.632,-12251.976,17,2.1,36,18.3