version: 66.02
glider: 22
mission: 2
dive: 285
start: 9 30 107 19 2 27
data:
$ID,22
$MISSION,2
$DIVE,285
$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,-115532.51
$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
$GPS1,185234,4739.632,-12251.976,17,2.1,36,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.3
$GPS2,190104,4739.714,-12251.834,15,1.8,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.238,-0.160
$KALMAN_X,39050.3,320.9,109.4,-38051.7,380.0
$KALMAN_Y,11880.9,311.6,104.1,-12260.1,262.5
$MHEAD_RNG_PITCHd_Wd,217.8,843,-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,27,-0.77,-97.8,0.0,0.0,0,144,0.00,0.00,-113.28,0.000,2,0.000,0.000,32,2077,2983
$GC,147,-0.77,-97.8,2.0,-2.4,19,208,13.68,0.00,-40.65,0.000,6,0.197,0.000,2359,2076,3881
$GC,274,-0.77,-97.8,8.0,-6.6,39,280,0.00,2.92,0.00,0.000,4,0.000,0.133,2359,676,3882
$GC,300,-0.77,-97.8,9.6,-6.5,43,306,0.00,2.80,0.00,0.000,6,0.000,0.099,2359,2106,3883
$GC,372,-0.77,-97.8,13.7,-6.0,54,378,0.00,2.88,0.00,0.000,4,0.000,0.124,2359,3517,3883
$GC,438,-0.77,-97.8,17.6,-5.8,64,445,0.00,2.88,0.00,0.000,6,0.000,0.110,2359,2087,3883
$GC,510,-0.77,-97.8,21.6,-5.7,73,514,0.00,2.92,0.00,0.000,4,0.000,0.136,2359,679,3883
$GC,574,-0.77,-97.8,26.0,-6.6,77,581,0.00,2.80,0.00,0.000,6,0.000,0.100,2359,2105,3883
$GC,771,-0.77,-97.8,38.4,-6.3,93,775,0.00,2.88,0.00,0.000,4,0.000,0.127,2359,3512,3883
$GC,849,-0.77,-97.8,43.3,-6.4,98,856,0.00,2.88,0.00,0.000,6,0.000,0.112,2359,2090,3884
$GC,1045,-0.77,-97.8,54.4,-5.8,114,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2090,3884
$GC,1238,-0.77,-97.8,64.3,-5.1,129,1242,0.00,2.92,0.00,0.000,4,0.000,0.124,2359,3510,3884
$GC,1289,-0.77,-97.8,67.3,-5.7,132,1296,0.00,2.88,0.00,0.000,6,0.000,0.114,2359,2094,3884
$GC,1485,-0.77,-97.8,77.9,-5.4,148,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2094,3884
$GC,1676,-0.77,-97.8,89.2,-6.3,163,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2094,3884
$GC,1865,-0.77,-97.8,99.9,-5.3,178,1869,0.00,2.15,0.00,0.000,3,0.000,0.132,2359,1034,3884
$STATE,1870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1870,begin apogee
$GC,1878,-0.31,0.0,100.3,5.0,178,1957,0.50,0.00,73.00,0.737,6,0.127,0.000,2457,2111,3484
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1960,0.77,97.8,102.3,0.0,185,2041,1.17,0.00,77.97,0.726,6,0.096,0.000,2696,2111,3085
$GC,2230,0.82,149.9,87.9,6.3,207,2279,0.00,3.08,39.88,0.719,4,0.000,0.127,2696,679,2872
$GC,2305,0.82,149.9,82.7,7.5,213,2309,0.00,2.75,0.00,0.000,6,0.000,0.084,2696,2109,2872
$GC,2500,0.82,149.9,67.5,7.6,228,2504,0.00,2.85,0.00,0.000,4,0.000,0.121,2696,3517,2873
$GC,2531,0.82,149.9,65.0,8.6,230,2539,0.00,2.83,0.00,0.000,6,0.000,0.096,2696,2098,2873
$GC,2728,0.82,151.7,50.5,7.4,246,2733,0.00,2.90,0.00,0.000,4,0.000,0.128,2696,681,2874
$GC,2766,0.82,151.7,47.4,7.9,248,2774,0.00,2.75,1.02,0.824,6,0.000,0.084,2696,2108,2864
$GC,2963,0.82,151.7,33.0,7.5,264,2967,0.00,2.83,0.00,0.000,4,0.000,0.117,2696,3514,2866
$GC,2989,0.82,151.7,30.9,8.5,265,2995,0.00,2.78,0.00,0.000,6,0.000,0.096,2696,2094,2867
$GC,3187,0.85,171.0,15.5,7.0,285,3211,0.00,2.97,14.70,0.706,4,0.000,0.125,2696,680,2786
$GC,3343,1.01,323.7,5.9,4.2,309,3370,0.25,2.72,20.15,0.695,2,0.061,0.084,2756,2111,2679
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$FINISH,0.5,1.011051
$STATE,3461,end surface coast,CONTROL_FINISHED_OK
$STATE,3461,begin surface
$SM_CCo,3483,129.07,0.645,0,0,1648,450.13
$SM_GC,1.25,0.00,0.00,129.07,0.000,0.000,0.645,36,2076,1648,-11.47,-0.57,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2074
$TCM_TEMP,19.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.8,33.029
$10V_AH,10.2,8.588
$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,28.125,61.550,226.725,129.075,0.000,65.156,72.274,195.316,2.500,0.000,0.000,34.904,600.271,1971.856,534.522,558.661,503.636,33.343,885.796,0.000,541.162,0.000,5.350
$DEVICE_MAMPS,197.119,135.759,823.758,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,214.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9569,327
$CFSIZE,260034560,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,200327,4739.620,-12252.029,12,1.4,12,18.3