version: 66.02
glider: 22
mission: 2
dive: 420
start: 10 6 107 18 39 9
data:
$ID,22
$MISSION,2
$DIVE,420
$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,-119023.66
$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,10
$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
$GPS1,183237,4740.959,-12251.788,35,1.4,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-55.6
$GPS2,183745,4740.990,-12251.755,11,1.6,11,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,-0.139
$KALMAN_X,60446.4,176.3,229.2,-59320.7,-27.6
$KALMAN_Y,11848.6,-28.1,-60.0,-9356.9,170.3
$MHEAD_RNG_PITCHd_Wd,215.4,275,-10.8,-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,-0.77,-88.0,0.0,0.0,0,147,0.00,0.00,-114.38,0.000,2,0.000,0.000,36,2183,3054
$GC,150,-0.77,-88.0,2.1,-1.9,19,206,13.55,2.97,-31.95,0.000,4,0.195,0.149,2354,3566,3844
$GC,221,-0.77,-88.0,5.6,-6.3,30,228,0.00,2.78,0.00,0.000,6,0.000,0.110,2354,2195,3845
$GC,294,-0.77,-88.0,10.4,-6.8,41,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2195,3846
$GC,367,-0.77,-88.0,15.0,-6.2,52,373,0.00,2.92,0.00,0.000,4,0.000,0.137,2354,784,3847
$GC,400,-0.77,-88.0,16.9,-6.1,57,406,0.00,2.85,0.00,0.000,6,0.000,0.112,2354,2203,3847
$GC,479,-0.77,-88.0,21.5,-5.8,67,483,0.00,2.90,0.00,0.000,4,0.000,0.146,2354,3565,3848
$GC,525,-0.77,-88.0,24.4,-6.7,70,529,0.00,2.78,0.00,0.000,6,0.000,0.109,2356,2186,3848
$GC,721,-0.77,-88.0,35.4,-5.5,85,725,0.00,2.90,0.00,0.000,4,0.000,0.137,2354,781,3849
$GC,780,-0.77,-88.0,38.6,-5.2,89,785,0.00,2.88,0.00,0.000,6,0.000,0.114,2354,2210,3849
$GC,978,-0.77,-88.0,48.6,-5.0,104,983,0.00,2.90,0.00,0.000,4,0.000,0.150,2354,3564,3849
$GC,1040,-0.77,-88.0,52.0,-6.0,108,1044,0.00,2.78,0.00,0.000,6,0.000,0.111,2354,2192,3849
$GC,1235,-0.77,-88.0,62.4,-5.5,123,1240,0.00,2.92,0.00,0.000,4,0.000,0.142,2354,787,3849
$GC,1308,-0.77,-88.0,66.4,-5.9,128,1313,0.00,2.88,0.00,0.000,6,0.000,0.115,2354,2213,3849
$GC,1504,-0.77,-88.0,77.5,-5.6,143,1509,0.00,2.90,0.00,0.000,4,0.000,0.152,2354,3563,3849
$GC,1563,-0.77,-88.0,81.3,-6.5,147,1568,0.00,2.78,0.00,0.000,6,0.000,0.114,2354,2196,3849
$STATE,1630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1630,begin apogee
$GC,1637,-0.31,0.0,85.6,6.1,152,1707,0.55,0.00,67.03,0.725,6,0.129,0.000,2459,2045,3484
$STATE,1708,end apogee,CONTROL_FINISHED_OK
$STATE,1708,begin climb
$GC,1711,0.77,88.0,87.7,0.0,158,1784,1.15,0.00,68.93,0.712,6,0.103,0.000,2694,2043,3125
$GC,1974,0.79,109.2,77.1,5.8,179,1997,0.00,0.00,16.98,0.720,6,0.000,0.000,2694,2041,3037
$GC,2187,0.80,110.9,63.9,6.3,196,2191,0.00,2.90,0.00,0.000,4,0.000,0.118,2694,3463,3038
$GC,2220,0.80,110.9,61.7,6.7,198,2224,0.00,2.80,0.00,0.000,6,0.000,0.095,2694,2038,3038
$GC,2415,0.80,110.9,48.5,6.6,213,2420,0.00,2.90,0.00,0.000,4,0.000,0.134,2693,626,3037
$GC,2521,0.80,110.9,41.3,6.7,220,2527,0.00,2.70,0.00,0.000,6,0.000,0.081,2694,2059,3038
$GC,2716,0.82,133.5,29.8,5.7,236,2741,0.00,2.88,18.62,0.703,4,0.000,0.116,2694,3468,2938
$GC,2774,0.82,133.5,26.2,6.5,240,2781,0.00,2.83,0.00,0.000,6,0.000,0.097,2694,2041,2938
$GC,2975,0.84,149.4,14.0,5.9,263,2993,0.00,2.95,11.70,0.700,4,0.000,0.131,2693,628,2874
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,0.6,1.003957
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3224,begin surface
$SM_CCo,3250,163.82,0.641,0,0,1649,450.13
$SM_GC,1.40,0.00,0.00,163.82,0.000,0.000,0.641,38,2205,1649,-11.46,0.14,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2044
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,45.863
$10V_AH,10.2,12.156
$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,27.250,63.450,183.250,163.825,0.000,32.588,36.496,141.180,1.000,0.000,0.000,11.676,577.453,1753.495,513.664,520.907,400.625,33.345,854.903,0.000,526.280,0.000,5.354
$DEVICE_MAMPS,194.818,151.866,724.815,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9578,301
$CFSIZE,260034560,246210560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,193708,4740.881,-12252.082,12,1.5,29,18.3