version: 66.02
glider: 22
mission: 2
dive: 459
start: 10 8 107 12 0 17
data:
$ID,22
$MISSION,2
$DIVE,459
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,35
$T_MISSION,80
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,600
$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,-125213.95
$T_RSLEEP,2
$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,7
$R_STBD_OVSHOOT,9
$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
$GPS1,115403,4739.149,-12252.852,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.6
$GPS2,115909,4739.117,-12252.854,16,1.9,16,18.3
$SPEED_LIMITS,0.157,0.226
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,0.215
$KALMAN_X,-553.0,-161.0,17.9,1031.9,-52.3
$KALMAN_Y,-4718.9,-591.8,-223.2,4875.6,-147.1
$MHEAD_RNG_PITCHd_Wd,360.0,3630,-19.0,-9.048
$D_GRID,127
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.32,-117.3,0.0,0.0,0,123,0.00,0.00,-89.95,0.000,2,0.000,0.000,38,2215,2943
$GC,128,-1.32,-117.3,2.2,-3.5,15,195,13.05,0.00,-49.12,0.000,6,0.200,0.000,2236,2212,3964
$GC,261,-1.32,-117.3,12.1,-15.1,36,267,0.00,3.00,0.00,0.000,4,0.000,0.137,2234,779,3965
$GC,332,-1.32,-117.3,22.1,-13.2,46,339,0.00,2.80,0.00,0.000,6,0.000,0.098,2234,2214,3966
$GC,531,-1.32,-117.3,46.3,-12.5,62,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2214,3965
$GC,718,-1.32,-117.3,70.5,-13.2,77,723,0.00,2.85,0.00,0.000,4,0.000,0.143,2234,3563,3965
$GC,778,-1.32,-117.3,78.2,-13.1,81,782,0.00,2.75,0.00,0.000,6,0.000,0.111,2234,2192,3965
$STATE,914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,914,begin apogee
$GC,922,-0.31,0.0,96.4,13.2,92,1018,1.20,0.00,92.55,0.727,6,0.148,0.000,2461,2042,3483
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,1.32,117.3,99.9,0.0,100,1124,1.70,2.90,91.35,0.713,4,0.100,0.097,2810,3467,3004
$GC,1146,1.32,119.0,95.1,9.0,110,1151,0.00,2.75,0.00,0.000,6,0.000,0.084,2810,2043,3004
$GC,1344,1.32,119.0,75.7,10.2,125,1348,0.00,2.88,0.00,0.000,4,0.000,0.126,2809,627,3004
$GC,1429,1.32,119.0,65.8,11.3,131,1434,0.00,2.65,0.00,0.000,6,0.000,0.073,2810,2058,3004
$GC,1632,1.32,119.0,44.7,10.3,147,1636,0.00,2.72,0.00,0.000,4,0.000,0.099,2810,3468,3004
$GC,1707,1.32,119.0,36.5,11.3,152,1711,0.00,2.72,0.00,0.000,6,0.000,0.082,2810,2041,3003
$GC,1905,1.32,119.0,15.1,10.9,170,1911,0.00,2.83,0.00,0.000,4,0.000,0.121,2809,630,3004
$STATE,2100,end climb,SURFACE_DEPTH_REACHED
$STATE,2100,begin surface coast
$FINISH,0.6,1.021892
$STATE,2127,end surface coast,CONTROL_FINISHED_OK
$STATE,2127,begin surface
$SM_CCo,2155,249.40,0.632,0,0,1036,600.00
$SM_GC,1.28,0.00,0.00,249.40,0.000,0.000,0.632,36,2213,1036,-11.47,0.37,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2031
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,7.6
$24V_AH,23.8,49.631
$10V_AH,10.2,13.380
$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,28.625,34.250,183.900,249.400,0.000,32.607,42.553,102.430,0.500,0.000,0.000,16.155,382.213,1076.532,560.536,359.838,363.306,33.323,806.715,0.000,361.643,0.000,5.346
$DEVICE_MAMPS,200.187,143.429,727.116,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,204
$CFSIZE,260034560,245366784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,124130,4739.267,-12252.736,11,9.8,30,18.3