version: 66.02
glider: 22
mission: 2
dive: 416
start: 10 6 107 13 36 30
data:
$ID,22
$MISSION,2
$DIVE,416
$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,-118946.51
$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,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
$GPS1,133020,4740.637,-12250.584,13,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.2
$GPS2,133507,4740.628,-12250.565,16,1.7,26,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.219,0.109
$KALMAN_X,59758.0,169.0,-6.9,-56907.2,288.2
$KALMAN_Y,11697.6,-116.9,-63.2,-9782.5,-180.3
$MHEAD_RNG_PITCHd_Wd,278.1,1878,-10.1,-6.296
$D_GRID,93
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.73,-88.0,0.0,0.0,0,92,0.00,0.00,-60.83,0.000,2,0.000,0.000,38,2183,2934
$GC,96,-0.73,-88.0,2.1,-1.7,10,158,13.57,3.00,-42.05,0.000,4,0.194,0.148,2364,783,3844
$GC,204,-0.73,-88.0,6.4,-7.5,27,210,0.00,2.88,0.00,0.000,6,0.000,0.116,2365,2206,3844
$GC,276,-0.73,-88.0,11.5,-7.0,38,282,0.00,2.92,0.00,0.000,4,0.000,0.149,2364,3574,3844
$GC,355,-0.73,-88.0,16.4,-6.4,50,362,0.00,2.78,0.00,0.000,6,0.000,0.112,2364,2198,3845
$GC,434,-0.73,-88.0,20.8,-5.3,61,439,0.00,2.97,0.00,0.000,4,0.000,0.142,2364,778,3845
$GC,513,-0.73,-88.0,24.8,-4.8,66,519,0.00,2.90,0.00,0.000,6,0.000,0.117,2365,2211,3845
$GC,709,-0.73,-88.0,33.3,-4.6,82,714,0.00,2.88,0.00,0.000,4,0.000,0.149,2365,3565,3845
$GC,760,-0.73,-88.0,35.9,-5.0,85,767,0.00,2.78,0.00,0.000,6,0.000,0.109,2365,2185,3846
$GC,958,-0.73,-88.0,44.7,-4.2,101,963,0.00,2.95,0.00,0.000,4,0.000,0.143,2364,777,3846
$GC,1010,-0.73,-88.0,47.4,-5.2,104,1017,0.00,2.90,0.00,0.000,6,0.000,0.117,2364,2211,3846
$GC,1207,-0.73,-88.0,57.5,-5.8,120,1211,0.00,2.90,0.00,0.000,4,0.000,0.149,2365,3575,3846
$GC,1240,-0.73,-88.0,59.3,-5.7,122,1244,0.00,2.80,0.00,0.000,6,0.000,0.112,2365,2190,3846
$GC,1437,-0.73,-88.0,69.7,-5.2,137,1442,0.00,2.95,0.00,0.000,4,0.000,0.148,2364,782,3845
$GC,1503,-0.73,-88.0,73.6,-5.9,142,1508,0.00,2.88,0.00,0.000,6,0.000,0.119,2364,2208,3846
$GC,1699,-0.73,-88.0,83.9,-5.2,157,1704,0.00,2.90,0.00,0.000,4,0.000,0.148,2364,3567,3846
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1722,begin apogee
$GC,1731,-0.31,0.0,85.5,6.0,158,1804,0.47,0.00,69.45,0.728,6,0.134,0.000,2456,2047,3484
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1808,0.73,88.0,87.8,0.0,164,1885,1.10,2.95,68.72,0.715,4,0.104,0.120,2681,637,3125
$GC,1912,0.83,178.6,85.8,4.3,172,1992,0.12,2.75,69.53,0.703,6,0.067,0.087,2712,2061,2756
$GC,2181,0.83,178.6,65.0,8.5,194,2186,0.00,2.85,0.00,0.000,4,0.000,0.120,2712,3468,2756
$GC,2220,0.83,178.6,61.3,9.6,196,2226,0.00,2.83,0.00,0.000,6,0.000,0.098,2712,2041,2756
$GC,2416,0.83,178.6,43.7,9.0,212,2420,0.00,2.88,0.00,0.000,4,0.000,0.127,2712,625,2756
$GC,2521,0.83,178.6,33.3,9.9,219,2527,0.00,2.72,0.00,0.000,6,0.000,0.082,2712,2065,2756
$GC,2718,0.83,178.6,17.0,7.9,237,2724,0.00,2.80,0.00,0.000,4,0.000,0.115,2712,3465,2756
$GC,2753,0.83,178.6,14.1,8.7,242,2759,0.00,2.80,0.00,0.000,6,0.000,0.097,2712,2044,2755
$GC,2825,0.85,197.7,9.0,5.9,253,2850,0.00,3.00,14.55,0.693,4,0.000,0.115,2712,3470,2678
$STATE,2896,end climb,SURFACE_DEPTH_REACHED
$STATE,2896,begin surface coast
$FINISH,3.1,1.021910
$STATE,2920,end surface coast,CONTROL_FINISHED_OK
$STATE,2921,begin surface
$SM_CCo,2947,132.77,0.642,0,0,1648,450.13
$SM_GC,1.36,0.00,0.00,132.77,0.000,0.000,0.642,38,2176,1648,-11.46,-0.68,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2079
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,7.9
$24V_AH,23.8,45.397
$10V_AH,10.2,12.026
$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,27.725,74.675,222.250,132.775,0.000,32.579,37.964,109.650,1.000,0.000,0.000,26.353,526.179,1541.434,485.136,499.012,360.573,33.347,813.984,0.000,488.008,0.000,3.972
$DEVICE_MAMPS,194.051,148.798,727.883,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,268
$CFSIZE,260034560,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,142839,4740.701,-12250.811,13,1.9,13,18.3