version: 66.02
glider: 22
mission: 2
dive: 407
start: 10 6 107 3 43 10
data:
$ID,22
$MISSION,2
$DIVE,407
$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,-118717.2
$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
$GPS1,032931,4740.744,-12250.372,36,1.9,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.1
$GPS2,034147,4740.750,-12250.335,15,2.1,34,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.237,0.062
$KALMAN_X,58095.3,271.5,334.1,-55398.2,42.1
$KALMAN_Y,12981.3,-197.9,-215.5,-10606.9,-40.2
$MHEAD_RNG_PITCHd_Wd,266.3,2091,-10.1,-6.296
$D_GRID,90
$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,-88.0,0.0,0.0,0,141,0.00,0.00,-108.70,0.000,2,0.000,0.000,38,2221,2941
$GC,144,-0.73,-88.0,2.0,-1.4,18,206,13.62,3.10,-42.17,0.000,4,0.196,0.152,2364,785,3843
$GC,246,-0.73,-88.0,5.7,-6.8,34,252,0.00,2.85,0.00,0.000,6,0.000,0.112,2365,2202,3845
$GC,318,-0.73,-88.0,10.3,-6.5,45,325,0.00,2.90,0.00,0.000,4,0.000,0.146,2365,3564,3846
$GC,404,-0.73,-88.0,16.1,-6.8,58,411,0.00,2.78,0.00,0.000,6,0.000,0.110,2365,2191,3848
$GC,477,-0.73,-88.0,20.2,-5.1,69,482,0.00,2.95,0.00,0.000,4,0.000,0.140,2364,776,3848
$GC,529,-0.73,-88.0,23.2,-6.0,72,536,0.00,2.88,0.00,0.000,6,0.000,0.114,2365,2202,3848
$GC,726,-0.73,-88.0,33.7,-5.4,88,730,0.00,2.90,0.00,0.000,4,0.000,0.143,2365,3575,3848
$GC,814,-0.73,-88.0,38.7,-5.9,94,818,0.00,2.80,0.00,0.000,6,0.000,0.113,2365,2192,3848
$GC,1010,-0.73,-88.0,49.4,-5.6,109,1014,0.00,2.95,0.00,0.000,4,0.000,0.142,2364,776,3849
$GC,1075,-0.73,-88.0,53.1,-5.8,113,1081,0.00,2.90,0.00,0.000,6,0.000,0.115,2365,2215,3848
$GC,1271,-0.73,-88.0,63.0,-4.9,129,1275,0.00,2.88,0.00,0.000,4,0.000,0.146,2365,3573,3849
$GC,1331,-0.73,-88.0,66.5,-6.1,133,1335,0.00,2.80,0.00,0.000,6,0.000,0.117,2365,2190,3848
$GC,1526,-0.73,-88.0,77.0,-5.0,148,1531,0.00,2.92,0.00,0.000,4,0.000,0.145,2365,784,3849
$GC,1573,-0.73,-88.0,79.4,-5.3,151,1577,0.00,2.88,0.00,0.000,6,0.000,0.117,2365,2204,3849
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1697,-0.31,0.0,85.3,5.1,160,1767,0.50,0.00,66.68,0.726,6,0.133,0.000,2459,2037,3484
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1770,0.73,88.0,87.3,0.0,166,1847,1.10,2.90,68.60,0.714,4,0.104,0.115,2683,632,3125
$GC,1887,0.79,141.3,84.0,5.1,175,1935,0.00,2.72,41.62,0.706,6,0.000,0.083,2683,2060,2908
$GC,2133,0.79,141.3,68.9,6.6,195,2137,0.00,2.85,0.00,0.000,4,0.000,0.123,2683,3461,2909
$GC,2165,0.79,141.3,66.4,7.7,197,2170,0.00,2.83,0.00,0.000,6,0.000,0.100,2683,2037,2909
$GC,2361,0.79,141.3,52.9,6.7,212,2365,0.00,2.90,0.00,0.000,4,0.000,0.133,2682,630,2908
$GC,2420,0.79,141.3,48.8,6.6,216,2424,0.00,2.72,0.00,0.000,6,0.000,0.085,2683,2059,2909
$GC,2617,0.79,141.3,35.9,6.7,231,2622,0.00,2.88,0.00,0.000,4,0.000,0.125,2683,3472,2909
$GC,2682,0.79,141.3,31.1,7.3,235,2689,0.00,2.80,0.00,0.000,6,0.000,0.096,2683,2043,2908
$GC,2879,0.79,141.3,18.4,6.4,252,2885,0.00,2.88,0.00,0.000,4,0.000,0.129,2683,634,2909
$GC,2973,0.80,158.3,12.5,5.9,266,2993,0.10,2.70,13.00,0.702,6,0.087,0.082,2706,2059,2838
$GC,3059,0.88,223.5,8.1,4.8,279,3115,0.00,3.00,49.53,0.671,4,0.000,0.126,2706,3470,2572
$STATE,3119,end climb,SURFACE_DEPTH_REACHED
$STATE,3119,begin surface coast
$FINISH,1.5,1.021863
$STATE,3165,end surface coast,CONTROL_FINISHED_OK
$STATE,3166,begin surface
$SM_CCo,3191,121.50,0.639,0,0,1649,450.13
$SM_GC,1.39,0.00,0.00,121.50,0.000,0.000,0.639,40,2190,1649,-11.45,-0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2071
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.1,8.1
$24V_AH,23.8,44.584
$10V_AH,10.2,11.783
$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,27.500,74.600,239.425,121.500,0.000,97.784,187.483,196.420,1.500,0.000,0.000,35.451,558.529,1785.420,511.475,550.102,688.048,33.344,868.818,0.000,531.301,0.000,5.353
$DEVICE_MAMPS,195.585,151.866,726.349,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9610,296
$CFSIZE,260034560,246575104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,043929,4740.771,-12250.706,9,7.9,28,18.3