version: 66.02
glider: 22
mission: 2
dive: 409
start: 10 6 107 5 50 53
data:
$ID,22
$MISSION,2
$DIVE,409
$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,-118768.95
$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,6
$R_STBD_OVSHOOT,9
$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
$GPS1,054441,4740.797,-12251.170,10,2.4,29,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.8
$GPS2,054927,4740.804,-12251.169,12,1.7,12,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.233,0.076
$KALMAN_X,58397.3,282.4,234.3,-56650.4,-63.2
$KALMAN_Y,12686.7,-205.8,-98.7,-10320.5,24.6
$MHEAD_RNG_PITCHd_Wd,269.7,1060,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.73,-88.0,0.0,0.0,0,90,0.00,0.00,-60.85,0.000,2,0.000,0.000,37,2206,2935
$GC,94,-0.73,-88.0,2.2,-1.9,10,156,13.68,3.05,-40.38,0.000,4,0.197,0.153,2364,775,3842
$GC,235,-0.73,-88.0,9.3,-7.0,32,241,0.00,2.88,0.00,0.000,6,0.000,0.112,2364,2202,3843
$GC,307,-0.73,-88.0,14.7,-7.7,43,314,0.00,2.92,0.00,0.000,4,0.000,0.146,2364,3575,3844
$GC,347,-0.73,-88.0,17.6,-7.4,49,353,0.00,2.80,0.00,0.000,6,0.000,0.110,2364,2191,3844
$GC,418,-0.73,-88.0,21.5,-5.0,58,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2191,3844
$GC,612,-0.73,-88.0,31.3,-4.9,73,616,0.00,2.92,0.00,0.000,4,0.000,0.139,2363,783,3844
$GC,677,-0.73,-88.0,35.0,-5.5,77,683,0.00,2.88,0.00,0.000,6,0.000,0.114,2364,2216,3844
$GC,873,-0.73,-88.0,45.1,-5.2,93,878,0.00,2.88,0.00,0.000,4,0.000,0.145,2364,3575,3844
$GC,938,-0.73,-88.0,48.7,-5.8,97,945,0.00,2.78,0.00,0.000,6,0.000,0.110,2364,2196,3845
$GC,1135,-0.73,-88.0,58.2,-4.8,113,1139,0.00,2.95,0.00,0.000,4,0.000,0.141,2363,781,3845
$GC,1173,-0.73,-88.0,60.1,-4.9,115,1180,0.00,2.88,0.00,0.000,6,0.000,0.115,2364,2206,3845
$GC,1370,-0.73,-88.0,69.3,-4.7,131,1374,0.00,2.90,0.00,0.000,4,0.000,0.146,2364,3576,3845
$GC,1408,-0.73,-88.0,71.4,-5.3,133,1415,0.00,2.80,0.00,0.000,6,0.000,0.114,2364,2193,3845
$GC,1605,-0.73,-88.0,80.8,-4.8,149,1609,0.00,2.97,0.00,0.000,4,0.000,0.146,2363,780,3845
$GC,1669,-0.73,-88.0,83.9,-5.1,153,1676,0.00,2.90,0.00,0.000,6,0.000,0.117,2364,2213,3845
$STATE,1699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1699,begin apogee
$GC,1706,-0.31,0.0,85.5,5.0,156,1778,0.50,0.00,68.88,0.727,6,0.130,0.000,2458,2047,3484
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1782,0.73,88.0,86.9,0.0,162,1859,1.10,2.92,68.32,0.711,4,0.104,0.118,2682,637,3125
$GC,1899,0.74,101.9,83.3,6.0,171,1919,0.00,2.72,10.30,0.733,6,0.000,0.084,2682,2059,3068
$GC,2108,0.78,139.0,71.6,5.5,188,2138,0.00,0.00,28.30,0.711,6,0.000,0.000,2682,2058,2917
$GC,2321,0.78,139.0,57.7,6.9,205,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2058,2917
$GC,2512,0.78,139.0,45.2,6.3,220,2517,0.00,2.85,0.00,0.000,4,0.000,0.123,2682,3461,2917
$GC,2585,0.78,139.0,39.8,7.1,225,2590,0.00,2.80,0.00,0.000,6,0.000,0.097,2682,2038,2917
$GC,2781,0.78,139.7,27.2,6.3,240,2786,0.00,2.90,0.00,0.000,4,0.000,0.133,2682,625,2917
$GC,2841,0.78,139.7,23.1,6.7,244,2845,0.00,2.72,0.00,0.000,6,0.000,0.084,2683,2061,2916
$GC,3044,0.89,236.2,11.1,4.1,271,3123,0.15,0.00,73.97,0.669,6,0.081,0.000,2719,2061,2519
$STATE,3156,end climb,SURFACE_DEPTH_REACHED
$STATE,3156,begin surface coast
$FINISH,0.6,1.002357
$STATE,3243,end surface coast,CONTROL_FINISHED_OK
$STATE,3243,begin surface
$SM_CCo,3266,114.12,0.640,0,0,1648,450.13
$SM_GC,1.42,0.00,0.00,114.12,0.000,0.000,0.640,38,2210,1648,-11.46,0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2058
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,44.754
$10V_AH,10.2,11.834
$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,27.650,58.075,249.775,114.125,0.000,32.586,35.186,124.204,1.250,0.000,0.000,12.657,571.493,1765.325,476.785,522.307,377.676,33.347,818.625,0.000,526.111,0.000,5.349
$DEVICE_MAMPS,197.119,152.633,733.252,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9574,302
$CFSIZE,260034560,246525952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,064825,4740.850,-12251.622,36,2.0,36,18.3