version: 66.02
glider: 22
mission: 2
dive: 414
start: 10 6 107 11 38 27
data:
$ID,22
$MISSION,2
$DIVE,414
$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,-118877.77
$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,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
$GPS1,112531,4740.687,-12250.451,35,1.3,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.3
$GPS2,113703,4740.650,-12250.385,12,1.5,12,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.223,0.102
$KALMAN_X,59031.2,191.6,-147.9,-55834.5,16.2
$KALMAN_Y,12129.4,-122.9,89.1,-10317.0,-92.6
$MHEAD_RNG_PITCHd_Wd,276.2,2078,-10.1,-6.296
$D_GRID,91
$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,-88.0,0.0,0.0,0,96,0.00,0.00,-66.50,0.000,2,0.000,0.000,38,2219,3047
$GC,100,-0.73,-88.0,2.3,-2.1,11,156,13.62,3.10,-34.05,0.000,4,0.196,0.156,2365,775,3845
$GC,177,-0.73,-88.0,5.3,-6.8,23,184,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2203,3845
$GC,250,-0.73,-88.0,11.0,-7.3,34,256,0.00,2.92,0.00,0.000,4,0.000,0.147,2366,3575,3846
$GC,322,-0.73,-88.0,15.9,-7.0,45,329,0.00,2.80,0.00,0.000,6,0.000,0.114,2366,2194,3846
$GC,395,-0.73,-88.0,19.9,-5.1,56,401,0.00,2.97,0.00,0.000,4,0.000,0.143,2365,777,3847
$GC,494,-0.73,-88.0,25.0,-5.0,64,500,0.00,2.90,0.00,0.000,6,0.000,0.117,2366,2212,3846
$GC,690,-0.73,-88.0,34.0,-5.2,80,694,0.00,2.88,0.00,0.000,4,0.000,0.145,2366,3572,3847
$GC,749,-0.73,-88.0,37.7,-6.4,84,754,0.00,2.78,0.00,0.000,6,0.000,0.113,2366,2199,3847
$GC,945,-0.73,-88.0,48.8,-5.6,99,950,0.00,2.95,0.00,0.000,4,0.000,0.142,2365,786,3847
$GC,1024,-0.73,-88.0,53.4,-5.9,104,1030,0.00,2.88,0.00,0.000,6,0.000,0.116,2366,2209,3847
$GC,1220,-0.73,-88.0,64.5,-5.6,120,1224,0.00,2.90,0.00,0.000,4,0.000,0.149,2367,3573,3848
$GC,1258,-0.73,-88.0,66.9,-6.4,122,1265,0.00,2.80,0.00,0.000,6,0.000,0.116,2366,2192,3848
$GC,1455,-0.73,-88.0,77.2,-5.4,138,1459,0.00,2.95,0.00,0.000,4,0.000,0.146,2365,786,3847
$GC,1515,-0.73,-88.0,80.3,-5.2,142,1519,0.00,2.88,0.00,0.000,6,0.000,0.119,2364,2204,3847
$STATE,1607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1607,begin apogee
$GC,1613,-0.31,0.0,85.2,4.9,149,1686,0.47,0.00,69.47,0.726,6,0.131,0.000,2455,2037,3484
$STATE,1687,end apogee,CONTROL_FINISHED_OK
$STATE,1687,begin climb
$GC,1690,0.73,88.0,87.0,0.0,155,1767,1.12,2.95,68.68,0.709,4,0.106,0.125,2683,636,3124
$GC,1821,0.81,167.2,83.4,4.5,165,1889,0.10,2.75,60.78,0.703,6,0.076,0.088,2707,2064,2801
$GC,2078,0.81,167.2,64.6,7.7,186,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2064,2801
$GC,2269,0.81,167.2,49.5,8.3,201,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2064,2801
$GC,2458,0.81,167.2,34.1,8.1,216,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2064,2801
$GC,2648,0.81,167.2,19.6,7.4,231,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2064,2801
$GC,2720,0.81,167.2,14.4,6.7,242,2726,0.00,2.92,0.00,0.000,4,0.000,0.124,2707,631,2801
$GC,2773,0.81,167.2,10.8,6.7,250,2779,0.00,2.72,0.00,0.000,6,0.000,0.084,2707,2067,2801
$GC,2846,0.89,241.6,7.2,4.6,261,2889,0.00,0.00,41.03,0.677,2,0.000,0.000,2707,2067,2583
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,0.6,1.000429
$STATE,2987,end surface coast,CONTROL_FINISHED_OK
$STATE,2987,begin surface
$SM_CCo,3011,119.85,0.644,0,0,1648,450.13
$SM_GC,1.42,0.00,0.00,119.85,0.000,0.000,0.644,37,2213,1648,-11.47,0.34,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2067
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.3,8.0
$24V_AH,23.8,45.226
$10V_AH,10.2,11.976
$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,27.500,52.575,239.950,119.850,0.000,97.824,232.196,124.624,1.250,0.000,0.000,12.259,536.443,1722.606,468.766,487.354,652.705,33.344,793.048,0.000,493.224,0.000,5.350
$DEVICE_MAMPS,195.585,156.468,726.349,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6468,283
$CFSIZE,260034560,246390784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,123144,4740.638,-12250.496,13,1.7,30,18.3