version: 66.02
glider: 22
mission: 2
dive: 418
start: 10 6 107 16 8 27
data:
$ID,22
$MISSION,2
$DIVE,418
$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,-118975.98
$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,8
$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
$GPS1,154831,4740.810,-12251.132,40,1.7,45,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.9
$GPS2,160703,4740.874,-12251.073,11,1.9,11,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.244,0.027
$KALMAN_X,60077.5,181.3,235.5,-58108.9,77.9
$KALMAN_Y,11685.5,-99.0,-189.3,-9212.5,35.9
$MHEAD_RNG_PITCHd_Wd,258.0,1144,-10.1,-6.296
$D_GRID,99
$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,-88.0,0.0,0.0,0,149,0.00,0.00,-114.47,0.000,2,0.000,0.000,37,2218,3052
$GC,153,-0.73,-88.0,2.1,-1.7,19,208,13.52,3.08,-33.53,0.000,4,0.193,0.153,2365,776,3845
$GC,241,-0.73,-88.0,5.9,-6.5,33,248,0.00,2.90,0.00,0.000,6,0.000,0.115,2365,2210,3845
$GC,314,-0.73,-88.0,10.6,-6.5,44,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2210,3847
$GC,386,-0.73,-88.0,15.1,-5.6,55,393,0.00,2.90,0.00,0.000,4,0.000,0.147,2366,3573,3848
$GC,413,-0.73,-88.0,16.5,-5.4,59,419,0.00,2.78,0.00,0.000,6,0.000,0.111,2366,2194,3848
$GC,486,-0.73,-88.0,20.0,-4.6,70,491,0.00,2.95,0.00,0.000,4,0.000,0.139,2364,777,3848
$GC,532,-0.73,-88.0,22.4,-5.0,73,537,0.00,2.90,0.00,0.000,6,0.000,0.117,2365,2204,3848
$GC,728,-0.73,-88.0,32.1,-4.9,88,733,0.00,2.90,0.00,0.000,4,0.000,0.147,2366,3567,3848
$GC,793,-0.73,-88.0,35.6,-5.1,92,800,0.00,2.78,0.00,0.000,6,0.000,0.112,2366,2194,3848
$GC,990,-0.73,-88.0,45.8,-5.2,108,994,0.00,2.95,0.00,0.000,4,0.000,0.143,2365,783,3848
$GC,1049,-0.73,-88.0,49.2,-5.6,112,1054,0.00,2.90,0.00,0.000,6,0.000,0.120,2365,2209,3848
$GC,1245,-0.73,-88.0,60.5,-5.7,127,1250,0.00,2.90,0.00,0.000,4,0.000,0.149,2366,3565,3849
$GC,1291,-0.73,-88.0,63.6,-6.3,130,1296,0.00,2.80,0.00,0.000,6,0.000,0.116,2366,2192,3849
$GC,1487,-0.73,-88.0,75.0,-5.5,145,1492,0.00,2.97,0.00,0.000,4,0.000,0.145,2365,778,3849
$GC,1533,-0.73,-88.0,77.6,-5.8,148,1538,0.00,2.90,0.00,0.000,6,0.000,0.119,2365,2203,3849
$STATE,1676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1676,begin apogee
$GC,1683,-0.31,0.0,85.2,5.1,159,1752,0.50,0.00,65.62,0.724,6,0.132,0.000,2460,2037,3484
$STATE,1752,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1755,0.73,88.0,87.2,0.0,165,1833,1.10,2.92,70.78,0.713,4,0.104,0.124,2683,628,3125
$GC,1905,0.76,116.8,82.1,5.6,176,1937,0.00,2.75,22.30,0.714,6,0.000,0.087,2684,2061,3006
$GC,2127,0.80,150.9,69.8,5.5,194,2158,0.00,2.90,25.75,0.710,4,0.000,0.123,2684,3464,2868
$GC,2226,0.80,150.9,63.2,7.4,201,2230,0.00,2.83,0.00,0.000,6,0.000,0.099,2684,2043,2868
$GC,2421,0.80,150.9,49.6,6.8,216,2426,0.00,2.90,0.00,0.000,4,0.000,0.130,2683,631,2868
$GC,2500,0.80,150.9,43.5,7.3,221,2506,0.00,2.72,0.00,0.000,6,0.000,0.087,2684,2054,2868
$GC,2696,0.80,150.9,29.9,7.0,237,2700,0.00,2.90,0.00,0.000,4,0.000,0.129,2684,3465,2867
$GC,2734,0.80,150.9,26.9,8.0,239,2741,0.00,2.80,0.00,0.000,6,0.000,0.097,2683,2046,2868
$GC,2935,0.81,159.4,13.4,6.1,262,2949,0.10,2.92,6.57,0.717,4,0.082,0.128,2704,624,2833
$GC,3006,0.84,190.9,9.2,5.6,272,3037,0.00,2.72,23.75,0.684,6,0.000,0.084,2704,2057,2705
$STATE,3087,end climb,SURFACE_DEPTH_REACHED
$STATE,3087,begin surface coast
$FINISH,0.7,1.012994
$STATE,3191,end surface coast,CONTROL_FINISHED_OK
$STATE,3191,begin surface
$SM_CCo,3215,251.62,0.629,0,0,658,693.22
$SM_GC,1.26,0.00,0.00,251.62,0.000,0.000,0.629,37,2204,658,-11.47,0.11,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2051
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.8,45.647
$10V_AH,10.2,12.094
$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,27.500,69.600,214.775,251.625,0.000,165.425,346.916,238.196,1.250,0.000,0.000,11.748,574.034,1914.653,624.620,538.135,971.971,33.348,984.050,0.000,540.379,0.000,5.351
$DEVICE_MAMPS,192.517,153.400,724.048,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9553,300
$CFSIZE,260034560,246243328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,170703,4740.934,-12251.503,13,2.0,13,18.3