version: 66.02
glider: 22
mission: 2
dive: 399
start: 10 5 107 18 1 9
data:
$ID,22
$MISSION,2
$DIVE,399
$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,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,-118497.66
$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,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,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
$GPS1,174545,4740.976,-12251.943,12,1.9,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.3
$GPS2,175944,4741.011,-12251.918,13,2.0,30,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,-0.073
$KALMAN_X,56688.8,153.0,14.6,-55529.1,-80.3
$KALMAN_Y,15189.2,-470.3,-124.6,-12151.4,57.1
$MHEAD_RNG_PITCHd_Wd,89.1,1935,-10.1,-6.296
$D_GRID,101
$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,-88.0,0.0,0.0,0,97,0.00,0.00,-66.90,0.000,2,0.000,0.000,39,2179,3047
$GC,100,-0.73,-88.0,2.3,-2.2,11,161,13.52,3.00,-37.17,0.000,4,0.193,0.150,2365,3562,3844
$GC,260,-0.73,-88.0,10.7,-7.7,36,267,0.00,2.75,0.00,0.000,6,0.000,0.110,2365,2198,3846
$GC,333,-0.73,-88.0,15.2,-5.8,47,340,0.00,2.97,0.00,0.000,4,0.000,0.143,2365,780,3846
$GC,386,-0.73,-88.0,18.1,-5.5,55,393,0.00,2.85,0.00,0.000,6,0.000,0.110,2365,2203,3846
$GC,464,-0.73,-88.0,22.2,-5.3,64,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2203,3846
$GC,655,-0.73,-88.0,33.3,-5.9,79,660,0.00,2.88,0.00,0.000,4,0.000,0.142,2365,3573,3845
$GC,715,-0.73,-88.0,36.9,-5.7,83,719,0.00,2.78,0.00,0.000,6,0.000,0.110,2365,2199,3846
$GC,912,-0.73,-88.0,47.4,-5.7,98,917,0.00,2.97,0.00,0.000,4,0.000,0.143,2365,776,3846
$GC,973,-0.73,-88.0,50.9,-5.9,102,978,0.00,2.88,0.00,0.000,6,0.000,0.112,2365,2211,3846
$GC,1169,-0.73,-88.0,61.5,-5.3,117,1173,0.00,2.85,0.00,0.000,4,0.000,0.143,2365,3570,3846
$GC,1209,-0.73,-88.0,63.7,-5.7,119,1215,0.00,2.78,0.00,0.000,6,0.000,0.112,2365,2195,3846
$GC,1405,-0.73,-88.0,73.0,-4.8,135,1409,0.00,2.95,0.00,0.000,4,0.000,0.143,2365,775,3847
$GC,1483,-0.73,-88.0,77.4,-5.7,140,1489,0.00,2.88,0.00,0.000,6,0.000,0.112,2365,2212,3846
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1633,-0.31,0.0,85.2,5.4,152,1705,0.50,0.00,68.38,0.729,6,0.131,0.000,2460,2043,3484
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1708,0.73,88.0,87.0,0.0,158,1785,1.10,2.88,68.38,0.716,4,0.106,0.107,2682,630,3125
$GC,1848,0.74,103.5,81.8,5.9,169,1865,0.00,2.70,11.35,0.730,6,0.000,0.077,2682,2059,3062
$GC,2056,0.74,103.5,67.9,6.5,185,2061,0.00,2.85,0.00,0.000,4,0.000,0.120,2682,3467,3063
$GC,2094,0.74,103.5,65.2,7.5,187,2101,0.00,2.78,0.00,0.000,6,0.000,0.089,2682,2037,3062
$GC,2291,0.74,103.5,52.5,6.6,203,2295,0.00,2.80,0.00,0.000,4,0.000,0.119,2682,630,3062
$GC,2405,0.75,105.0,44.9,6.3,211,2409,0.00,2.67,0.00,0.000,6,0.000,0.077,2682,2055,3062
$GC,2600,0.77,123.2,33.3,5.9,226,2625,0.00,2.92,15.20,0.710,4,0.000,0.121,2682,3458,2981
$GC,2693,0.77,123.2,27.3,6.9,233,2697,0.00,2.75,0.00,0.000,6,0.000,0.090,2682,2046,2981
$GC,2892,0.77,123.2,14.8,6.4,254,2898,0.00,2.85,0.00,0.000,4,0.000,0.122,2682,630,2981
$GC,2980,0.87,223.3,10.6,4.0,267,3068,0.17,2.67,76.25,0.671,6,0.071,0.079,2721,2052,2572
$STATE,3091,end climb,SURFACE_DEPTH_REACHED
$STATE,3092,begin surface coast
$FINISH,0.6,1.003622
$STATE,3185,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3209,120.88,0.640,0,0,1649,450.13
$SM_GC,1.45,0.00,0.00,120.88,0.000,0.000,0.640,39,2214,1649,-11.46,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2061
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.2,8.3
$24V_AH,23.8,43.723
$10V_AH,10.2,11.535
$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,27.550,63.075,239.550,120.875,0.000,99.706,173.930,288.102,3.000,0.000,0.000,32.461,570.072,1831.067,473.955,548.617,791.625,33.342,822.097,0.000,532.824,0.000,5.350
$DEVICE_MAMPS,192.517,149.565,730.184,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9556,299
$CFSIZE,260034560,246804480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,185807,4740.935,-12251.603,41,1.4,52,18.3