version: 66.02
glider: 22
mission: 2
dive: 490
start: 10 9 107 21 26 33
data:
$ID,22
$MISSION,2
$DIVE,490
$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,-138408.81
$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,7
$R_STBD_OVSHOOT,12
$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
$GPS1,171753,4740.336,-12250.912,191,2.6,210,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.6
$GPS2,212528,4740.711,-12251.463,188,5.3,207,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.222,0.106
$KALMAN_X,-3215.7,-6.1,143.5,5150.2,-18.1
$KALMAN_Y,-10940.5,-360.9,-198.6,13790.9,139.9
$MHEAD_RNG_PITCHd_Wd,277.3,816,-20.8,-10.556
$D_GRID,98
$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,-127.1,0.0,0.0,0,155,0.00,0.00,-123.28,0.000,2,0.000,0.000,38,2217,3091
$GC,159,-1.44,-127.1,2.2,-3.4,20,214,12.70,2.95,-35.65,0.000,4,0.196,0.139,2208,780,3995
$GC,237,-1.44,-127.1,7.5,-12.0,32,243,0.00,2.78,0.00,0.000,6,0.000,0.096,2208,2210,3996
$GC,310,-1.44,-127.1,20.2,-16.1,43,314,0.00,2.88,0.00,0.000,4,0.000,0.146,2209,3561,3996
$GC,335,-1.44,-127.1,25.0,-18.0,44,342,0.00,2.70,0.00,0.000,6,0.000,0.102,2208,2195,3996
$GC,405,-1.44,-127.1,35.9,-15.9,50,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2195,3996
$GC,469,-1.44,-127.1,45.5,-15.3,55,474,0.00,2.95,0.00,0.000,4,0.000,0.140,2208,777,3997
$GC,494,-1.44,-127.1,49.6,-15.2,56,507,0.00,2.83,0.00,0.000,6,0.000,0.105,2208,2207,3997
$GC,565,-1.44,-127.1,59.8,-14.5,62,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2207,3997
$GC,628,-1.44,-127.1,68.8,-14.1,67,633,0.00,2.90,0.00,0.000,4,0.000,0.148,2208,3573,3997
$GC,693,-1.44,-127.1,78.5,-14.2,71,700,0.00,2.78,0.00,0.000,6,0.000,0.110,2208,2188,3997
$GC,763,-1.44,-127.1,88.5,-14.3,77,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2188,3997
$STATE,811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,811,begin apogee
$GC,818,-0.31,0.0,96.1,15.2,81,922,1.30,0.00,98.35,0.725,6,0.146,0.000,2454,2036,3484
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,923,begin climb
$GC,926,1.44,127.1,99.9,0.0,90,1036,1.90,2.88,99.57,0.709,4,0.111,0.114,2834,621,2965
$GC,1109,1.44,127.1,86.6,13.0,104,1115,0.00,2.67,0.00,0.000,6,0.000,0.072,2834,2064,2964
$GC,1178,1.44,127.1,77.6,13.1,110,1183,0.00,2.72,0.00,0.000,4,0.000,0.101,2834,3460,2965
$GC,1211,1.44,127.1,72.9,14.6,112,1216,0.00,2.70,0.00,0.000,6,0.000,0.077,2834,2037,2965
$GC,1282,1.44,127.1,63.4,13.2,117,1286,0.00,2.80,0.00,0.000,4,0.000,0.099,2834,3462,2964
$GC,1315,1.44,127.1,58.9,14.1,119,1319,0.00,2.70,0.00,0.000,6,0.000,0.078,2834,2041,2964
$GC,1384,1.44,127.1,49.7,13.5,124,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2041,2964
$GC,1447,1.44,127.1,41.8,12.3,129,1452,0.00,2.83,0.00,0.000,4,0.000,0.119,2834,627,2964
$GC,1486,1.44,127.1,36.9,12.6,131,1493,0.00,2.65,0.00,0.000,6,0.000,0.072,2834,2057,2964
$GC,1556,1.44,127.1,28.5,11.9,137,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2964
$GC,1619,1.44,127.1,21.3,11.4,142,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2964
$GC,1686,1.45,137.4,14.3,10.0,151,1699,0.00,2.95,7.55,0.703,4,0.000,0.114,2834,630,2922
$GC,1732,1.45,140.8,9.6,10.4,158,1740,0.00,2.65,2.33,0.752,6,0.000,0.072,2834,2056,2910
$STATE,1806,end climb,SURFACE_DEPTH_REACHED
$STATE,1806,begin surface coast
$FINISH,0.5,1.021858
$STATE,1824,end surface coast,CONTROL_FINISHED_OK
$STATE,1824,begin surface
$SM_CCo,1849,279.92,0.623,0,0,658,693.22
$SM_GC,1.01,0.00,0.00,279.92,0.000,0.000,0.623,37,2202,658,-11.47,0.03,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2006
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.8,53.524
$10V_AH,10.2,14.649
$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,28.725,50.875,207.800,279.925,0.000,162.981,334.514,279.433,0.750,0.000,0.000,208.292,336.697,1021.250,656.081,505.000,980.473,33.337,907.361,0.000,316.158,0.000,5.371
$DEVICE_MAMPS,196.352,148.031,751.660,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,110.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3325,172
$CFSIZE,260034560,244576256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,220817,4740.838,-12251.590,316,5.7,335,18.3