version: 66.02
glider: 22
mission: 2
dive: 397
start: 10 5 107 15 45 27
data:
$ID,22
$MISSION,2
$DIVE,397
$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,-118430.84
$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,13
$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
$GPS1,152659,4740.802,-12251.033,9,3.5,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.6
$GPS2,154404,4740.754,-12251.058,16,3.0,35,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,0.112
$KALMAN_X,56457.3,98.9,294.9,-54445.8,-119.1
$KALMAN_Y,15442.1,-598.5,-112.6,-12762.3,-38.5
$MHEAD_RNG_PITCHd_Wd,278.8,1222,-10.1,-6.296
$D_GRID,99
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.73,-88.0,0.0,0.0,0,96,0.00,0.00,-64.80,0.000,2,0.000,0.000,38,2179,3002
$GC,99,-0.73,-88.0,2.1,-1.6,11,161,13.60,3.00,-37.15,0.000,4,0.196,0.151,2364,788,3845
$GC,207,-0.73,-88.0,6.9,-7.2,28,213,0.00,2.83,0.00,0.000,6,0.000,0.109,2365,2200,3845
$GC,280,-0.73,-88.0,11.9,-6.5,39,286,0.00,2.90,0.00,0.000,4,0.000,0.143,2365,3572,3846
$GC,380,-0.73,-88.0,18.3,-6.2,54,387,0.00,2.78,0.00,0.000,6,0.000,0.110,2365,2195,3846
$GC,452,-0.73,-88.0,22.5,-5.7,62,457,0.00,2.95,0.00,0.000,4,0.000,0.140,2364,775,3846
$GC,503,-0.73,-88.0,25.7,-6.5,65,510,0.00,2.88,0.00,0.000,6,0.000,0.112,2364,2209,3846
$GC,700,-0.73,-88.0,36.3,-5.4,81,705,0.00,2.85,0.00,0.000,4,0.000,0.144,2365,3565,3847
$GC,747,-0.73,-88.0,38.9,-6.2,84,751,0.00,2.78,0.00,0.000,6,0.000,0.113,2364,2197,3847
$GC,942,-0.73,-88.0,49.6,-5.4,99,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2197,3847
$GC,1132,-0.73,-88.0,59.8,-5.4,114,1136,0.00,2.95,0.00,0.000,4,0.000,0.140,2364,779,3848
$GC,1191,-0.73,-88.0,63.1,-5.6,118,1196,0.00,2.85,0.00,0.000,6,0.000,0.112,2364,2201,3847
$GC,1387,-0.73,-88.0,73.1,-4.9,133,1391,0.00,2.90,0.00,0.000,4,0.000,0.144,2365,3576,3847
$GC,1433,-0.73,-88.0,75.4,-5.4,136,1438,0.00,2.80,0.00,0.000,6,0.000,0.114,2365,2197,3847
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1633,-0.31,0.0,85.1,5.0,151,1705,0.50,0.00,69.12,0.734,6,0.126,0.000,2460,2031,3483
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1709,0.73,88.0,87.3,0.0,157,1786,1.10,3.00,68.35,0.717,4,0.103,0.114,2685,3461,3125
$GC,1821,0.82,168.5,84.8,4.5,166,1888,0.10,2.78,61.08,0.711,6,0.070,0.089,2712,2043,2797
$GC,2077,0.82,168.5,63.6,9.4,186,2082,0.00,2.92,0.00,0.000,4,0.000,0.132,2711,627,2796
$GC,2169,0.82,168.5,54.7,9.0,192,2176,0.00,2.72,0.00,0.000,6,0.000,0.081,2712,2063,2797
$GC,2365,0.82,168.5,36.4,9.3,208,2369,0.00,2.78,0.00,0.000,4,0.000,0.115,2712,3461,2796
$GC,2416,0.82,168.5,31.3,9.4,211,2423,0.00,2.78,0.00,0.000,6,0.000,0.093,2712,2040,2796
$GC,2616,0.82,168.5,12.6,9.2,233,2622,0.00,2.88,0.00,0.000,4,0.000,0.129,2712,631,2797
$GC,2695,0.82,168.5,6.5,6.7,245,2702,0.00,2.70,0.00,0.000,6,0.000,0.084,2712,2053,2796
$STATE,2719,end climb,SURFACE_DEPTH_REACHED
$STATE,2719,begin surface coast
$FINISH,0.5,1.003512
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2836,264.40,0.633,0,0,659,693.22
$SM_GC,1.27,0.00,0.00,264.40,0.000,0.000,0.633,36,2215,659,-11.47,0.42,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2042
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.8,43.520
$10V_AH,10.2,11.475
$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,27.475,57.650,198.550,264.400,0.000,165.283,409.645,71.163,3.000,0.000,0.000,35.930,513.185,1748.772,580.004,489.949,838.981,33.340,887.596,0.000,467.909,0.000,5.350
$DEVICE_MAMPS,195.585,151.099,734.019,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6419,263
$CFSIZE,260034560,246861824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,163817,4740.856,-12251.502,13,2.8,32,18.3