version: 66.02
glider: 22
mission: 2
dive: 417
start: 10 6 107 14 48 27
data:
$ID,22
$MISSION,2
$DIVE,417
$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,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,-118963.6
$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,10
$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
$GPS1,142839,4740.701,-12250.811,13,1.9,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.6
$GPS2,144703,4740.708,-12250.767,16,1.8,16,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.227,0.092
$KALMAN_X,59974.2,172.3,113.0,-57493.0,253.1
$KALMAN_Y,11617.9,-114.7,-137.8,-9484.3,-125.5
$MHEAD_RNG_PITCHd_Wd,273.7,1592,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.73,-88.0,0.0,0.0,0,98,0.00,0.00,-66.50,0.000,2,0.000,0.000,38,2175,3044
$GC,102,-0.73,-88.0,2.3,-2.1,11,157,13.57,3.00,-32.33,0.000,4,0.194,0.153,2366,786,3844
$GC,217,-0.73,-88.0,8.8,-7.4,29,223,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2210,3845
$GC,290,-0.73,-88.0,13.4,-6.3,40,296,0.00,2.88,0.00,0.000,4,0.000,0.145,2367,3565,3846
$GC,356,-0.73,-88.0,17.0,-5.4,50,362,0.00,2.78,0.00,0.000,6,0.000,0.111,2367,2189,3846
$GC,435,-0.73,-88.0,21.0,-4.9,61,440,0.00,2.92,0.00,0.000,4,0.000,0.140,2367,785,3846
$GC,514,-0.73,-88.0,25.2,-5.7,66,520,0.00,2.88,0.00,0.000,6,0.000,0.115,2367,2212,3846
$GC,711,-0.73,-88.0,35.2,-5.2,82,715,0.00,2.88,0.00,0.000,4,0.000,0.147,2367,3572,3847
$GC,762,-0.73,-88.0,38.2,-5.9,85,769,0.00,2.78,0.00,0.000,6,0.000,0.111,2367,2195,3847
$GC,959,-0.73,-88.0,47.6,-4.9,101,964,0.00,2.97,0.00,0.000,4,0.000,0.144,2367,777,3847
$GC,1005,-0.73,-88.0,50.0,-5.2,104,1015,0.00,2.88,0.00,0.000,6,0.000,0.117,2367,2206,3847
$GC,1212,-0.73,-88.0,60.4,-5.3,120,1217,0.00,2.90,0.00,0.000,4,0.000,0.146,2367,3575,3847
$GC,1258,-0.73,-88.0,62.9,-5.4,123,1263,0.00,2.80,0.00,0.000,6,0.000,0.114,2367,2192,3848
$GC,1454,-0.73,-88.0,72.8,-4.6,138,1459,0.00,2.97,0.00,0.000,4,0.000,0.146,2366,780,3847
$GC,1527,-0.73,-88.0,76.2,-4.6,143,1532,0.00,2.88,0.00,0.000,6,0.000,0.117,2367,2206,3847
$STATE,1720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1720,begin apogee
$GC,1728,-0.31,0.0,85.1,4.4,158,1800,0.47,0.00,69.43,0.727,6,0.137,0.000,2456,2041,3484
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,0.73,88.0,86.8,0.0,164,1881,1.10,2.90,68.70,0.709,4,0.104,0.115,2681,634,3125
$GC,1929,0.76,115.8,82.9,5.7,174,1957,0.00,2.72,21.15,0.718,6,0.000,0.081,2681,2067,3011
$GC,2156,0.77,122.8,69.0,6.1,192,2168,0.00,2.88,5.57,0.748,4,0.000,0.121,2681,3464,2982
$GC,2209,0.77,122.8,65.5,6.8,196,2213,0.00,2.78,0.00,0.000,6,0.000,0.091,2681,2046,2983
$GC,2404,0.77,129.8,53.2,6.1,211,2417,0.00,2.92,5.12,0.758,4,0.000,0.128,2681,631,2954
$GC,2502,0.77,129.8,46.6,6.5,218,2509,0.00,2.70,0.00,0.000,6,0.000,0.083,2681,2056,2954
$GC,2699,0.77,129.8,34.2,6.7,234,2703,0.00,2.88,0.00,0.000,4,0.000,0.127,2681,3462,2954
$GC,2739,0.77,129.8,31.5,7.4,236,2745,0.00,2.78,0.00,0.000,6,0.000,0.094,2681,2041,2954
$GC,2935,0.82,169.4,19.3,5.4,253,2973,0.12,2.95,29.67,0.688,4,0.073,0.127,2708,628,2793
$GC,3012,0.82,169.4,14.0,7.3,265,3019,0.00,2.75,0.00,0.000,6,0.000,0.085,2708,2064,2792
$GC,3086,0.83,181.7,8.9,6.0,276,3104,0.00,2.92,9.45,0.703,4,0.000,0.123,2708,3464,2743
$GC,3144,0.83,181.7,5.2,6.5,285,3150,0.00,2.83,0.00,0.000,6,0.000,0.099,2708,2042,2742
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.5,1.010725
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3264,257.88,0.630,0,0,659,693.22
$SM_GC,1.23,0.00,0.00,257.88,0.000,0.000,0.630,37,2219,659,-11.47,0.54,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2043
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,45.522
$10V_AH,10.2,12.059
$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,27.550,75.125,209.100,257.875,0.000,167.594,296.070,271.983,1.250,0.000,0.000,16.468,583.808,1989.459,600.153,537.597,961.081,33.350,954.891,0.000,536.965,0.000,5.373
$DEVICE_MAMPS,194.051,153.400,757.796,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9561,300
$CFSIZE,260034560,246284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,154831,4740.810,-12251.132,40,1.7,45,18.3