version: 66.02
glider: 22
mission: 2
dive: 406
start: 10 6 107 2 32 46
data:
$ID,22
$MISSION,2
$DIVE,406
$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,-118681.12
$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
$GPS1,021157,4740.629,-12250.281,14,1.9,14,18.3
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,4
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.1
$GPS2,023123,4740.588,-12250.228,12,2.1,31,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.177
$KALMAN_X,57894.0,253.7,301.0,-55011.9,102.0
$KALMAN_Y,13159.7,-192.1,-234.4,-11069.7,-83.6
$MHEAD_RNG_PITCHd_Wd,300.7,383,-10.8,-6.296
$D_GRID,89
$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,-0.77,-88.0,0.0,0.0,0,95,0.00,0.00,-66.12,0.000,2,0.000,0.000,38,2182,3037
$GC,99,-0.77,-88.0,2.3,-2.3,11,155,13.60,2.92,-34.92,0.000,4,0.196,0.146,2358,781,3843
$GC,287,-0.77,-88.0,13.1,-7.0,40,293,0.00,2.85,0.00,0.000,6,0.000,0.113,2358,2203,3844
$GC,360,-0.77,-88.0,17.6,-5.5,51,367,0.00,2.88,0.00,0.000,4,0.000,0.143,2359,3564,3845
$GC,413,-0.77,-88.0,20.7,-5.8,59,417,0.00,2.75,0.00,0.000,6,0.000,0.108,2358,2193,3845
$GC,616,-0.77,-88.0,31.3,-5.3,75,620,0.00,2.92,0.00,0.000,4,0.000,0.138,2358,782,3845
$GC,662,-0.77,-88.0,33.9,-5.3,78,666,0.00,2.88,0.00,0.000,6,0.000,0.114,2358,2211,3846
$GC,858,-0.77,-88.0,44.1,-5.2,93,862,0.00,2.90,0.00,0.000,4,0.000,0.147,2358,3574,3846
$GC,891,-0.77,-88.0,45.9,-6.0,95,895,0.00,2.80,0.00,0.000,6,0.000,0.113,2358,2191,3846
$GC,1086,-0.77,-88.0,55.4,-5.0,110,1091,0.00,2.95,0.00,0.000,4,0.000,0.143,2357,780,3846
$GC,1146,-0.77,-88.0,58.6,-5.3,114,1151,0.00,2.88,0.00,0.000,6,0.000,0.116,2358,2204,3846
$GC,1342,-0.77,-88.0,68.8,-4.9,129,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2204,3846
$GC,1533,-0.77,-88.0,78.6,-5.5,144,1538,0.00,2.90,0.00,0.000,4,0.000,0.146,2358,3576,3846
$GC,1593,-0.77,-88.0,82.1,-5.7,148,1597,0.00,2.78,0.00,0.000,6,0.000,0.111,2358,2191,3846
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1654,-0.31,0.0,85.1,5.3,152,1726,0.52,0.00,69.18,0.725,6,0.127,0.000,2459,2037,3484
$STATE,1727,end apogee,CONTROL_FINISHED_OK
$STATE,1727,begin climb
$GC,1730,0.77,88.0,86.8,0.0,158,1809,1.15,3.00,68.53,0.709,4,0.102,0.114,2693,3464,3125
$GC,1830,0.83,140.4,83.9,5.0,166,1877,0.00,2.80,40.12,0.705,6,0.000,0.094,2693,2041,2910
$GC,2075,0.83,140.4,66.8,7.4,186,2079,0.00,2.90,0.00,0.000,4,0.000,0.131,2693,633,2910
$GC,2160,0.83,140.4,60.2,7.5,192,2165,0.00,2.72,0.00,0.000,6,0.000,0.083,2694,2064,2910
$GC,2356,0.83,140.4,45.8,7.3,207,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2064,2910
$GC,2549,0.83,140.4,32.3,7.2,222,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2064,2910
$GC,2736,0.83,140.4,19.8,6.5,237,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2064,2910
$GC,2808,0.87,181.1,15.5,5.3,248,2845,0.12,0.00,30.70,0.684,6,0.074,0.000,2722,2065,2744
$GC,2911,0.90,208.2,9.6,5.6,264,2941,0.00,2.92,20.40,0.682,4,0.000,0.118,2722,3462,2635
$GC,2968,0.90,208.2,5.6,7.3,273,2974,0.00,2.80,0.00,0.000,6,0.000,0.096,2722,2048,2635
$STATE,2978,end climb,SURFACE_DEPTH_REACHED
$STATE,2978,begin surface coast
$FINISH,0.7,1.001226
$STATE,3059,end surface coast,CONTROL_FINISHED_OK
$STATE,3059,begin surface
$SM_CCo,3082,246.05,0.629,0,0,659,693.22
$SM_GC,1.34,0.00,0.00,246.05,0.000,0.000,0.629,38,2220,659,-11.46,0.57,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2052
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.5,7.9
$24V_AH,23.8,44.489
$10V_AH,10.2,11.753
$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,27.675,52.200,228.925,246.050,0.000,163.024,187.322,411.702,1.500,0.000,0.000,32.129,548.430,1911.250,583.354,504.807,991.189,33.338,905.792,0.000,490.896,0.000,5.350
$DEVICE_MAMPS,195.585,147.264,724.815,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,287
$CFSIZE,260034560,246599680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,032931,4740.744,-12250.372,36,1.9,40,18.3