version: 66.02
glider: 22
mission: 2
dive: 481
start: 10 9 107 9 50 17
data:
$ID,22
$MISSION,2
$DIVE,481
$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,600
$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,-128720.19
$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,8
$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
$GPS1,092411,4740.826,-12251.902,206,4.1,225,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.0
$GPS2,092411,4740.826,-12251.902,206,4.1,225,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G17
$TGT_LATLONG,4740.869,-12251.195
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.245,-0.025
$KALMAN_X,-3392.6,-260.0,0.4,5432.7,-74.7
$KALMAN_Y,-9021.1,-278.8,-71.2,12092.5,-35.2
$MHEAD_RNG_PITCHd_Wd,77.6,885,-20.8,-10.556
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.44,-127.1,0.0,0.0,0,131,0.00,0.00,-96.68,0.000,2,0.000,0.000,37,2205,2989
$GC,137,-1.44,-127.1,2.1,-3.4,16,204,12.77,2.97,-45.47,0.000,4,0.199,0.138,2207,779,3995
$GC,283,-1.44,-127.1,16.4,-15.1,39,289,0.00,2.80,0.00,0.000,6,0.000,0.100,2205,2214,3997
$GC,360,-1.44,-127.1,27.9,-14.7,47,365,0.00,2.85,0.00,0.000,4,0.000,0.144,2207,3566,3997
$GC,420,-1.44,-127.1,36.9,-15.2,51,425,0.00,2.72,0.00,0.000,6,0.000,0.100,2207,2185,3997
$GC,490,-1.44,-127.1,47.5,-15.1,56,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2186,3997
$GC,553,-1.44,-127.1,57.1,-15.3,61,557,0.00,2.90,0.00,0.000,4,0.000,0.135,2207,774,3997
$GC,578,-1.44,-127.1,61.1,-15.1,62,585,0.00,2.83,0.00,0.000,6,0.000,0.104,2207,2207,3997
$GC,648,-1.44,-127.1,71.6,-15.6,68,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2207,3997
$GC,711,-1.44,-127.1,81.1,-15.0,73,716,0.00,2.90,0.00,0.000,4,0.000,0.149,2207,3567,3997
$GC,763,-1.44,-127.1,89.2,-15.0,76,770,0.00,2.75,0.00,0.000,6,0.000,0.107,2207,2193,3997
$STATE,805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,805,begin apogee
$GC,812,-0.31,0.0,95.4,14.2,80,916,1.30,0.00,98.15,0.728,6,0.149,0.000,2453,2041,3483
$STATE,917,end apogee,CONTROL_FINISHED_OK
$STATE,917,begin climb
$GC,920,1.44,127.1,99.6,0.0,89,1029,1.88,2.88,98.70,0.713,4,0.102,0.097,2835,3462,2965
$GC,1084,1.44,127.1,88.1,13.7,102,1090,0.00,2.70,0.00,0.000,6,0.000,0.076,2835,2043,2964
$GC,1154,1.44,127.1,79.2,12.6,108,1159,0.00,2.85,0.00,0.000,4,0.000,0.120,2834,630,2965
$GC,1181,1.44,127.1,75.7,13.4,109,1188,0.00,2.67,0.00,0.000,6,0.000,0.076,2835,2063,2964
$GC,1251,1.44,127.1,66.4,12.8,115,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2063,2964
$GC,1314,1.44,127.1,58.2,13.2,120,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2063,2964
$GC,1378,1.44,127.1,50.1,12.8,125,1383,0.00,2.88,0.00,0.000,4,0.000,0.114,2835,630,2964
$GC,1425,1.44,127.1,43.8,13.2,128,1429,0.00,2.65,0.00,0.000,6,0.000,0.073,2835,2058,2964
$GC,1494,1.44,127.1,35.3,12.1,133,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2058,2964
$GC,1558,1.44,127.1,27.7,11.9,138,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2058,2964
$GC,1620,1.44,127.1,19.8,12.2,143,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2058,2964
$GC,1694,1.44,133.9,12.1,10.2,154,1706,0.00,2.75,4.97,0.729,4,0.000,0.100,2835,3460,2937
$GC,1740,1.45,138.4,7.3,10.3,161,1753,0.00,2.70,3.58,0.739,6,0.000,0.077,2835,2036,2917
$STATE,1812,end climb,SURFACE_DEPTH_REACHED
$STATE,1812,begin surface coast
$FINISH,0.6,1.022251
$STATE,1837,end surface coast,CONTROL_FINISHED_OK
$STATE,1837,begin surface
$SM_CCo,1863,230.70,0.629,0,0,1038,600.00
$SM_GC,1.14,0.00,0.00,230.70,0.000,0.000,0.629,36,2202,1038,-11.47,0.06,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2032
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,51.3,7.2
$24V_AH,23.8,52.285
$10V_AH,10.2,14.122
$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,28.850,45.450,205.400,230.700,0.000,65.191,82.021,262.598,1.000,0.000,0.000,901.213,341.868,861.031,592.923,1197.887,628.420,33.326,836.644,0.000,317.788,0.000,5.349
$DEVICE_MAMPS,199.420,148.798,738.621,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3311,176
$CFSIZE,260034560,244822016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,092411,4740.826,-12251.902,206,4.1,225,18.3