version: 66.02
glider: 22
mission: 2
dive: 413
start: 10 6 107 10 28 45
data:
$ID,22
$MISSION,2
$DIVE,413
$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,-118864.88
$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,8
$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
$GPS1,101807,4740.809,-12251.100,31,1.7,31,18.3
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,6
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.4
$GPS2,102721,4740.794,-12251.048,15,1.9,15,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.244,-0.024
$KALMAN_X,58872.7,207.7,-145.8,-56517.9,-18.1
$KALMAN_Y,12311.2,-144.3,101.9,-10225.3,-0.9
$MHEAD_RNG_PITCHd_Wd,77.3,793,-10.1,-6.296
$D_GRID,100
$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,28,-0.73,-88.0,0.0,0.0,0,90,0.00,0.00,-60.65,0.000,2,0.000,0.000,36,2211,2920
$GC,94,-0.73,-88.0,2.1,-1.5,10,161,13.65,3.05,-44.17,0.000,4,0.196,0.150,2363,783,3843
$GC,373,-0.73,-88.0,18.1,-6.6,53,380,0.00,2.88,0.00,0.000,6,0.000,0.113,2363,2210,3844
$GC,451,-0.73,-88.0,21.6,-4.3,62,456,0.00,2.88,0.00,0.000,4,0.000,0.146,2363,3566,3844
$GC,529,-0.73,-88.0,26.3,-6.2,67,536,0.00,2.78,0.00,0.000,6,0.000,0.110,2363,2188,3845
$GC,726,-0.73,-88.0,36.6,-5.3,83,731,0.00,2.92,0.00,0.000,4,0.000,0.139,2363,778,3844
$GC,746,-0.73,-88.0,37.7,-5.6,84,750,0.00,2.88,0.00,0.000,6,0.000,0.116,2363,2209,3845
$GC,942,-0.73,-88.0,47.1,-4.7,99,946,0.00,2.90,0.00,0.000,4,0.000,0.148,2363,3573,3845
$GC,988,-0.73,-88.0,49.2,-4.5,102,993,0.00,2.80,0.00,0.000,6,0.000,0.114,2363,2191,3845
$GC,1184,-0.73,-88.0,59.2,-5.2,117,1188,0.00,2.95,0.00,0.000,4,0.000,0.144,2363,785,3845
$GC,1249,-0.73,-88.0,62.7,-5.3,121,1256,0.00,2.88,0.00,0.000,6,0.000,0.117,2363,2206,3845
$GC,1445,-0.73,-88.0,74.0,-5.9,137,1450,0.00,2.90,0.00,0.000,4,0.000,0.148,2362,3570,3845
$GC,1505,-0.73,-88.0,77.6,-5.6,141,1510,0.00,2.80,0.00,0.000,6,0.000,0.117,2363,2189,3845
$STATE,1661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1670,-0.31,0.0,85.5,4.5,153,1742,0.47,0.00,69.05,0.728,6,0.137,0.000,2454,2035,3484
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1746,0.73,88.0,87.4,0.0,159,1819,1.12,0.00,68.65,0.713,6,0.109,0.000,2681,2034,3125
$GC,2009,0.79,148.7,76.0,4.9,180,2058,0.00,0.00,46.30,0.708,6,0.000,0.000,2681,2035,2876
$GC,2247,0.80,150.2,61.5,6.3,199,2249,0.10,0.00,0.00,0.000,6,0.080,0.000,2702,2034,2876
$GC,2436,0.80,150.2,48.7,6.9,214,2441,0.00,2.92,0.00,0.000,4,0.000,0.117,2704,3470,2876
$GC,2469,0.80,150.2,46.0,8.2,216,2473,0.00,2.80,0.00,0.000,6,0.000,0.096,2703,2044,2876
$GC,2664,0.80,150.2,31.2,7.3,231,2669,0.00,2.90,0.00,0.000,4,0.000,0.130,2703,624,2876
$GC,2702,0.80,150.2,28.3,7.2,233,2709,0.00,2.72,0.00,0.000,6,0.000,0.082,2703,2065,2876
$GC,2903,0.82,172.4,14.2,5.8,255,2928,0.00,2.88,17.88,0.694,4,0.000,0.119,2703,3465,2780
$GC,2984,0.82,172.4,8.7,7.4,267,2991,0.00,2.83,0.00,0.000,6,0.000,0.100,2703,2043,2780
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3048,begin surface coast
$FINISH,0.6,1.022685
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3154,begin surface
$SM_CCo,3178,151.25,0.644,0,0,1648,450.13
$SM_GC,1.37,0.00,0.00,151.25,0.000,0.000,0.644,38,2219,1648,-11.46,0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2081
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,45.134
$10V_AH,10.2,11.949
$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,27.550,52.300,201.875,151.250,0.000,65.195,64.579,259.202,1.500,0.000,0.000,15.213,560.730,1819.736,471.573,499.428,577.075,33.352,786.112,0.000,498.238,0.000,5.353
$DEVICE_MAMPS,196.352,149.565,727.883,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,293
$CFSIZE,260034560,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,112531,4740.687,-12250.451,35,1.3,40,18.3