version: 66.02
glider: 22
mission: 2
dive: 400
start: 10 5 107 19 20 39
data:
$ID,22
$MISSION,2
$DIVE,400
$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,-118512.59
$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,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,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
$GPS1,185807,4740.935,-12251.603,41,1.4,52,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,191915,4740.944,-12251.556,14,1.6,14,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.224,-0.100
$KALMAN_X,56671.8,149.8,-125.0,-54911.7,-45.0
$KALMAN_Y,15145.2,-379.8,-100.6,-12346.9,131.1
$MHEAD_RNG_PITCHd_Wd,95.8,1466,-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,-88.0,0.0,0.0,0,97,0.00,0.00,-64.85,0.000,2,0.000,0.000,39,2214,3005
$GC,100,-0.73,-88.0,2.2,-2.1,11,162,13.55,2.90,-39.62,0.000,4,0.194,0.153,2366,3571,3844
$GC,306,-0.73,-88.0,14.7,-8.4,43,313,0.00,2.78,0.00,0.000,6,0.000,0.109,2366,2195,3845
$GC,380,-0.73,-88.0,18.8,-4.7,54,386,0.00,2.95,0.00,0.000,4,0.000,0.142,2366,786,3846
$GC,424,-0.73,-88.0,21.2,-5.1,59,431,0.00,2.85,0.00,0.000,6,0.000,0.113,2366,2205,3845
$GC,621,-0.73,-88.0,31.5,-5.4,75,626,0.00,2.88,0.00,0.000,4,0.000,0.142,2367,3570,3846
$GC,673,-0.73,-88.0,34.7,-6.5,78,679,0.00,2.75,0.00,0.000,6,0.000,0.107,2366,2197,3847
$GC,869,-0.73,-88.0,44.7,-4.7,94,874,0.00,2.95,0.00,0.000,4,0.000,0.140,2366,778,3847
$GC,916,-0.73,-88.0,46.8,-4.5,97,921,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2210,3847
$GC,1112,-0.73,-88.0,55.3,-4.3,112,1116,0.00,2.88,0.00,0.000,4,0.000,0.145,2367,3572,3846
$GC,1172,-0.73,-88.0,58.3,-5.2,116,1176,0.00,2.78,0.00,0.000,6,0.000,0.112,2367,2191,3847
$GC,1367,-0.73,-88.0,67.6,-4.9,131,1372,0.00,2.95,0.00,0.000,4,0.000,0.143,2366,779,3847
$GC,1427,-0.73,-88.0,70.6,-5.0,135,1432,0.00,2.85,0.00,0.000,6,0.000,0.114,2366,2204,3846
$GC,1623,-0.73,-88.0,79.7,-4.7,150,1628,0.00,2.88,0.00,0.000,4,0.000,0.145,2366,3567,3847
$GC,1662,-0.73,-88.0,81.8,-5.8,152,1668,0.00,2.80,0.00,0.000,6,0.000,0.116,2367,2191,3847
$STATE,1729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1729,begin apogee
$GC,1736,-0.31,0.0,85.3,4.8,158,1807,0.47,0.00,68.82,0.731,6,0.133,0.000,2455,2038,3484
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1808,begin climb
$GC,1811,0.73,88.0,86.9,0.0,164,1888,1.12,3.03,68.32,0.714,4,0.106,0.117,2684,3468,3125
$GC,1916,0.79,141.6,83.7,5.1,172,1963,0.00,2.80,41.15,0.709,6,0.000,0.091,2684,2041,2905
$GC,2161,0.79,141.6,66.0,7.9,192,2166,0.00,2.90,0.00,0.000,4,0.000,0.132,2684,633,2905
$GC,2239,0.79,141.6,59.6,8.4,197,2247,0.00,2.72,0.00,0.000,6,0.000,0.082,2684,2069,2905
$GC,2435,0.79,141.6,45.6,6.4,213,2440,0.00,2.83,0.00,0.000,4,0.000,0.123,2684,3466,2905
$GC,2473,0.79,141.6,42.8,7.1,215,2480,0.00,2.78,0.00,0.000,6,0.000,0.091,2684,2041,2905
$GC,2670,0.79,141.6,29.0,6.8,231,2674,0.00,2.88,0.00,0.000,4,0.000,0.128,2683,631,2905
$GC,2729,0.79,141.6,24.8,7.3,235,2734,0.00,2.70,0.00,0.000,6,0.000,0.081,2684,2060,2905
$GC,2929,0.79,141.6,11.2,6.9,259,2936,0.00,2.85,0.00,0.000,4,0.000,0.123,2684,3467,2905
$GC,2982,0.79,146.3,7.9,6.2,267,2995,0.00,2.78,3.42,0.755,6,0.000,0.092,2684,2035,2885
$GC,3064,0.96,301.6,5.4,2.8,279,3078,0.22,0.00,10.82,0.707,2,0.081,0.000,2736,2035,2827
$STATE,3078,end climb,SURFACE_DEPTH_REACHED
$STATE,3078,begin surface coast
$FINISH,0.6,1.022050
$STATE,3275,end surface coast,CONTROL_FINISHED_OK
$STATE,3275,begin surface
$SM_CCo,3298,264.08,0.631,0,0,658,693.22
$SM_GC,1.40,0.00,0.00,264.08,0.000,0.000,0.631,36,2219,658,-11.47,0.54,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2042
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.0,7.9
$24V_AH,23.8,43.856
$10V_AH,10.2,11.572
$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,27.650,69.000,192.550,264.075,0.000,164.859,342.431,398.367,1.750,0.000,0.000,14.309,602.155,2015.859,586.575,548.475,1123.490,33.344,940.032,0.000,550.319,0.000,5.351
$DEVICE_MAMPS,194.051,153.400,755.495,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9579,311
$CFSIZE,260034560,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,202051,4740.756,-12251.175,13,1.4,13,18.3