version: 66.02
glider: 22
mission: 2
dive: 476
start: 10 9 107 4 38 58
data:
$ID,22
$MISSION,2
$DIVE,476
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,30
$T_MISSION,80
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-126518.27
$T_RSLEEP,2
$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,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
$GPS1,041947,4740.684,-12252.216,809,2.3,828,18.3
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.4
$GPS2,043750,4740.633,-12252.249,81,1.6,93,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,0.239
$KALMAN_X,-2810.1,-314.3,-26.5,4246.1,121.3
$KALMAN_Y,-8483.9,-286.2,-80.1,11002.0,1.0
$MHEAD_RNG_PITCHd_Wd,355.3,736,-20.8,-10.556
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.44,-127.1,0.0,0.0,0,148,0.00,0.00,-114.40,0.000,2,0.000,0.000,38,2203,2945
$GC,152,-1.44,-127.1,2.1,-3.0,19,220,12.80,2.90,-49.42,0.000,4,0.199,0.143,2208,3568,3998
$GC,385,-1.44,-127.1,29.7,-15.5,51,390,0.00,2.72,0.00,0.000,6,0.000,0.102,2208,2196,3999
$GC,455,-1.44,-127.1,39.9,-14.5,56,459,0.00,2.90,0.00,0.000,4,0.000,0.133,2208,782,3999
$GC,480,-1.44,-127.1,43.9,-15.6,57,487,0.00,2.78,0.00,0.000,6,0.000,0.100,2208,2203,3998
$GC,552,-1.44,-127.1,54.4,-15.4,63,557,0.00,2.88,0.00,0.000,4,0.000,0.144,2208,3563,3999
$GC,598,-1.44,-127.1,61.9,-15.7,66,603,0.00,2.72,0.00,0.000,6,0.000,0.104,2208,2196,3999
$GC,668,-1.44,-127.1,72.1,-14.5,71,673,0.00,2.90,0.00,0.000,4,0.000,0.132,2208,777,3999
$GC,728,-1.44,-127.1,81.0,-13.9,75,732,0.00,2.83,0.00,0.000,6,0.000,0.106,2208,2203,3999
$GC,797,-1.44,-127.1,91.1,-14.8,80,802,0.00,2.90,0.00,0.000,4,0.000,0.147,2208,3565,3999
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,830,-0.31,0.0,95.0,14.6,81,933,1.33,0.00,98.07,0.726,6,0.152,0.000,2456,2042,3483
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,937,1.44,127.1,99.1,0.0,90,1041,1.88,0.00,98.78,0.711,6,0.107,0.000,2835,2037,2965
$GC,1098,1.44,127.1,89.2,11.0,103,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2037,2964
$GC,1161,1.44,127.1,81.6,11.9,108,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2037,2965
$GC,1224,1.44,127.1,73.8,12.1,113,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2037,2964
$GC,1288,1.44,127.1,66.0,12.6,118,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2037,2964
$GC,1351,1.44,127.1,58.4,12.3,123,1356,0.00,2.83,0.00,0.000,4,0.000,0.117,2835,632,2964
$GC,1450,1.44,127.1,46.0,12.5,130,1455,0.00,2.65,0.00,0.000,6,0.000,0.069,2835,2070,2964
$GC,1520,1.44,127.1,37.6,12.1,135,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2070,2964
$GC,1583,1.44,127.1,30.1,11.7,140,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2070,2964
$GC,1646,1.44,127.1,22.8,11.3,145,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2070,2964
$GC,1711,1.46,148.2,16.4,9.4,152,1735,0.00,2.97,16.05,0.692,4,0.000,0.114,2835,631,2878
$GC,1756,1.46,148.2,10.8,13.4,159,1762,0.00,2.67,0.00,0.000,6,0.000,0.074,2835,2058,2878
$GC,1829,1.49,178.5,3.4,8.9,170,1848,0.00,0.00,17.00,0.682,2,0.000,0.000,2835,2059,2786
$STATE,1848,end climb,SURFACE_DEPTH_REACHED
$STATE,1849,begin surface coast
$FINISH,0.5,1.003703
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1867,begin surface
$SM_CCo,1892,256.77,0.623,0,0,658,693.22
$SM_GC,1.19,0.00,0.00,256.77,0.000,0.000,0.623,40,2203,658,-11.45,0.11,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2016
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.5,7.8
$24V_AH,23.8,51.678
$10V_AH,10.2,13.911
$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,28.875,40.000,229.900,256.775,0.000,162.988,368.293,122.073,0.750,0.000,0.000,93.409,337.389,1057.471,632.917,402.484,831.426,33.352,884.155,0.000,328.042,0.000,5.350
$DEVICE_MAMPS,198.653,147.264,726.349,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3303,176
$CFSIZE,260034560,244936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,051750,4740.800,-12252.141,146,1.9,146,18.3