version: 66.02
glider: 22
mission: 2
dive: 309
start: 10 1 107 23 51 16
data:
$ID,22
$MISSION,2
$DIVE,309
$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,-116246.14
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$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,1
$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
$GPS1,234059,4739.412,-12252.672,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.4
$GPS2,234953,4739.438,-12252.646,18,2.9,37,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.264,0.083
$KALMAN_X,44640.0,-7.9,105.2,-44317.5,-70.2
$KALMAN_Y,17349.0,-98.6,184.7,-17906.7,-64.7
$MHEAD_RNG_PITCHd_Wd,54.2,310,-11.1,-7.407
$D_GRID,124
$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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,36,-0.80,-97.8,0.0,0.0,0,99,0.00,0.00,-60.75,0.000,2,0.000,0.000,35,2216,2921
$GC,102,-0.80,-97.8,2.1,-2.3,10,164,13.65,2.85,-41.67,0.000,4,0.199,0.148,2351,3564,3882
$GC,170,-0.80,-97.8,4.2,-5.0,21,176,0.00,2.78,0.00,0.000,6,0.000,0.112,2350,2197,3882
$GC,242,-0.80,-97.8,9.4,-7.0,32,248,0.00,2.88,0.00,0.000,4,0.000,0.130,2351,3573,3883
$GC,347,-0.80,-97.8,17.7,-7.0,48,353,0.00,2.78,0.00,0.000,6,0.000,0.110,2350,2198,3883
$GC,424,-0.80,-97.8,22.5,-6.3,57,429,0.00,2.95,0.00,0.000,4,0.000,0.142,2350,777,3882
$GC,483,-0.80,-97.8,26.2,-6.3,61,488,0.00,2.83,0.00,0.000,6,0.000,0.106,2350,2209,3883
$GC,679,-0.80,-97.8,37.8,-6.0,76,683,0.00,2.83,0.00,0.000,4,0.000,0.135,2351,3566,3883
$GC,738,-0.80,-97.8,41.4,-6.3,80,742,0.00,2.80,0.00,0.000,6,0.000,0.114,2350,2187,3882
$GC,933,-0.80,-97.8,52.5,-5.8,95,938,0.00,2.95,0.00,0.000,4,0.000,0.141,2350,773,3883
$GC,1011,-0.80,-97.8,57.2,-5.8,100,1018,0.00,2.83,0.00,0.000,6,0.000,0.104,2350,2208,3883
$GC,1208,-0.80,-97.8,67.7,-5.4,116,1212,0.00,2.83,0.00,0.000,4,0.000,0.135,2350,3573,3883
$GC,1299,-0.80,-97.8,73.4,-6.9,122,1305,0.00,2.80,0.00,0.000,6,0.000,0.116,2350,2195,3883
$GC,1495,-0.80,-97.8,84.9,-6.1,138,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2195,3883
$GC,1685,-0.80,-97.8,96.4,-5.7,153,1689,0.00,2.92,0.00,0.000,4,0.000,0.140,2350,776,3883
$GC,1744,-0.80,-97.8,100.0,-6.3,157,1748,0.00,2.22,0.00,0.000,3,0.000,0.104,2350,1913,3883
$STATE,1748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1748,begin apogee
$GC,1754,-0.31,0.0,100.2,5.7,157,1834,0.55,0.00,76.88,0.739,6,0.137,0.000,2456,2061,3483
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1838,0.80,97.8,102.7,0.0,164,1923,1.17,3.00,76.12,0.721,4,0.100,0.120,2696,627,3084
$GC,1942,0.93,219.5,100.4,4.6,172,2047,0.17,2.75,93.85,0.708,6,0.070,0.084,2733,2059,2589
$GC,2236,0.93,219.5,71.3,10.8,196,2241,0.00,2.83,0.00,0.000,4,0.000,0.114,2733,3469,2589
$GC,2287,0.93,219.5,65.1,11.6,199,2294,0.00,2.80,0.00,0.000,6,0.000,0.092,2733,2052,2589
$GC,2484,0.93,219.5,44.1,10.1,215,2488,0.00,2.90,0.00,0.000,4,0.000,0.127,2733,622,2588
$GC,2563,0.93,219.5,36.0,10.2,221,2568,0.00,2.70,0.00,0.000,6,0.000,0.078,2733,2057,2588
$GC,2759,0.93,219.5,17.1,9.4,238,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2056,2588
$GC,2831,0.93,219.5,10.5,8.3,249,2837,0.00,2.92,0.00,0.000,4,0.000,0.123,2733,627,2589
$GC,2870,0.93,219.5,7.5,8.0,255,2876,0.00,2.72,0.00,0.000,6,0.000,0.084,2734,2059,2588
$STATE,2913,end climb,SURFACE_DEPTH_REACHED
$STATE,2913,begin surface coast
$FINISH,0.6,1.013167
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3115,127.90,0.650,0,0,1649,450.13
$SM_GC,1.40,0.00,0.00,127.90,0.000,0.000,0.650,39,2214,1649,-11.46,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,2048
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.8,35.553
$10V_AH,10.1,9.292
$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,27.800,62.425,246.850,127.900,0.000,32.588,36.730,103.141,2.000,0.000,0.000,38.637,505.987,1663.096,486.080,564.558,509.409,33.342,825.408,0.000,509.453,0.000,5.351
$DEVICE_MAMPS,198.653,148.031,739.388,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,278
$CFSIZE,260034560,249212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,004638,4739.459,-12252.269,33,1.2,44,18.3