version: 66.02
glider: 22
mission: 2
dive: 386
start: 10 5 107 2 44 11
data:
$ID,22
$MISSION,2
$DIVE,386
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$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,90
$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,-118123.86
$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,9
$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,0
$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
$GPS1,022526,4740.893,-12251.891,9,1.8,9,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.9
$GPS2,024245,4740.752,-12252.037,14,1.4,14,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,0.216
$KALMAN_X,56002.5,-10.7,110.2,-54918.5,-249.1
$KALMAN_Y,18759.4,-193.8,-197.7,-16401.3,-217.4
$MHEAD_RNG_PITCHd_Wd,10.0,438,-10.1,-6.296
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.73,-88.0,0.0,0.0,0,102,0.00,0.00,-72.30,0.000,2,0.000,0.000,34,2218,3150
$GC,105,-0.73,-88.0,2.4,-2.6,12,155,13.65,3.08,-27.75,0.000,4,0.197,0.154,2364,778,3844
$GC,188,-0.73,-88.0,6.5,-7.2,25,194,0.00,2.88,0.00,0.000,6,0.000,0.112,2364,2211,3844
$GC,261,-0.73,-88.0,11.4,-6.6,36,267,0.00,2.88,0.00,0.000,4,0.000,0.145,2364,3566,3845
$GC,306,-0.73,-88.0,14.6,-7.1,43,313,0.00,2.78,0.00,0.000,6,0.000,0.113,2365,2195,3845
$GC,380,-0.73,-88.0,18.5,-5.1,54,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2195,3846
$GC,450,-0.73,-88.0,22.2,-5.0,62,455,0.00,2.95,0.00,0.000,4,0.000,0.139,2364,777,3845
$GC,476,-0.73,-88.0,23.4,-4.5,63,482,0.00,2.88,0.00,0.000,6,0.000,0.111,2364,2213,3845
$GC,672,-0.73,-88.0,32.6,-4.3,79,677,0.00,2.85,0.00,0.000,4,0.000,0.143,2364,3565,3846
$GC,718,-0.73,-88.0,34.9,-5.2,82,723,0.00,2.78,0.00,0.000,6,0.000,0.112,2364,2194,3845
$GC,914,-0.73,-88.0,44.5,-5.0,97,919,0.00,2.97,0.00,0.000,4,0.000,0.143,2364,774,3846
$GC,992,-0.73,-88.0,48.7,-5.7,102,999,0.00,2.88,0.00,0.000,6,0.000,0.112,2364,2212,3845
$GC,1189,-0.73,-88.0,59.8,-5.8,118,1193,0.00,2.85,0.00,0.000,4,0.000,0.143,2366,3573,3845
$GC,1228,-0.73,-88.0,62.3,-6.4,120,1234,0.00,2.80,0.00,0.000,6,0.000,0.115,2364,2191,3846
$GC,1424,-0.73,-88.0,74.2,-6.2,136,1429,0.00,2.92,0.00,0.000,4,0.000,0.142,2364,781,3846
$GC,1502,-0.73,-88.0,79.3,-6.3,141,1509,0.00,2.88,0.00,0.000,6,0.000,0.114,2364,2212,3845
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1602,-0.31,0.0,85.0,6.3,149,1674,0.50,0.00,69.10,0.732,6,0.130,0.000,2459,2043,3483
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.73,88.0,87.4,0.0,155,1755,1.10,2.85,68.15,0.717,4,0.104,0.105,2683,633,3124
$GC,1803,0.80,154.2,84.2,4.8,165,1864,0.00,2.70,50.83,0.711,6,0.000,0.076,2682,2067,2855
$GC,2053,0.80,154.2,68.3,6.7,185,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2067,2854
$GC,2244,0.80,154.2,55.2,7.0,200,2249,0.00,2.88,0.00,0.000,4,0.000,0.111,2683,630,2854
$GC,2282,0.80,154.2,52.1,7.9,202,2289,0.00,2.70,0.00,0.000,6,0.000,0.077,2683,2054,2854
$GC,2479,0.80,154.2,37.9,7.1,218,2483,0.00,2.88,0.00,0.000,4,0.000,0.124,2683,3465,2854
$GC,2511,0.80,154.2,35.4,7.9,220,2516,0.00,2.75,0.00,0.000,6,0.000,0.087,2683,2042,2854
$GC,2707,0.80,154.2,21.0,7.1,235,2711,0.00,2.85,0.00,0.000,4,0.000,0.123,2683,630,2854
$GC,2739,0.80,154.2,18.6,7.3,238,2746,0.00,2.70,0.00,0.000,6,0.000,0.081,2683,2065,2853
$GC,2812,0.84,195.3,14.2,5.4,249,2850,0.15,3.03,30.98,0.688,4,0.078,0.127,2720,627,2686
$GC,2902,0.84,195.3,7.5,8.2,263,2909,0.00,2.72,0.00,0.000,6,0.000,0.084,2720,2059,2686
$STATE,2939,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,0.5,1.008989
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3042,248.68,0.632,1,0,659,693.22
$SM_GC,1.17,0.00,0.00,248.68,0.000,0.000,0.632,37,2213,659,-11.47,0.40,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2045
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.5,7.8
$24V_AH,23.8,42.410
$10V_AH,10.2,11.151
$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,27.575,69.050,219.050,248.675,0.000,163.035,434.944,94.707,1.500,0.000,0.000,14.779,546.714,1856.667,601.081,493.366,884.820,33.350,935.292,0.000,498.201,0.000,7.141
$DEVICE_MAMPS,197.119,154.167,731.718,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,281
$CFSIZE,260034560,247173120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051007,033957,4740.928,-12251.874,14,1.6,14,18.3