version: 66.02
glider: 22
mission: 2
dive: 479
start: 10 9 107 7 47 23
data:
$ID,22
$MISSION,2
$DIVE,479
$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,30
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-126914.23
$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,12
$R_STBD_OVSHOOT,14
$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
$GPS1,071829,4740.932,-12252.082,266,3.4,285,18.3
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.5
$GPS2,074617,4740.878,-12252.205,215,2.5,234,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,0.115
$KALMAN_X,-3293.6,-283.9,56.3,4673.0,-37.9
$KALMAN_Y,-8941.9,-299.9,-78.0,11923.5,-11.9
$MHEAD_RNG_PITCHd_Wd,38.8,348,-24.3,-10.556
$D_GRID,106
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-1.62,-92.6,0.0,0.0,0,155,0.00,0.00,-121.70,0.000,2,0.000,0.000,36,2204,3081
$GC,159,-1.66,-127.1,2.2,-3.8,20,220,12.52,3.03,-38.08,0.000,4,0.199,0.146,2160,785,3996
$GC,332,-1.66,-127.1,26.5,-19.1,44,339,0.00,2.75,0.00,0.000,6,0.000,0.097,2160,2202,3998
$GC,402,-1.66,-127.1,39.2,-18.3,50,407,0.00,2.85,0.00,0.000,4,0.000,0.140,2160,3561,3999
$GC,454,-1.66,-127.1,49.7,-19.2,53,467,0.00,2.72,0.00,0.000,6,0.000,0.104,2160,2189,3999
$GC,524,-1.66,-127.1,62.4,-18.2,59,529,0.00,2.92,0.00,0.000,4,0.000,0.140,2160,781,3999
$GC,563,-1.66,-127.1,69.7,-18.2,61,570,0.00,2.80,0.00,0.000,6,0.000,0.103,2160,2206,3999
$GC,633,-1.66,-127.1,82.3,-18.2,67,638,0.00,2.88,0.00,0.000,4,0.000,0.145,2160,3565,3999
$GC,685,-1.66,-127.1,92.4,-19.5,70,691,0.00,2.75,0.00,0.000,6,0.000,0.108,2160,2194,3999
$STATE,701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,701,begin apogee
$GC,708,-0.31,0.0,96.0,18.9,72,812,1.58,0.00,98.43,0.727,6,0.158,0.000,2451,2038,3484
$STATE,813,end apogee,CONTROL_FINISHED_OK
$STATE,813,begin climb
$GC,816,1.66,127.1,101.5,0.0,81,926,2.12,2.85,98.68,0.712,4,0.101,0.107,2884,623,2965
$GC,942,1.66,127.1,94.6,11.2,91,947,0.00,2.67,0.00,0.000,6,0.000,0.066,2884,2069,2965
$GC,1012,1.66,127.1,84.7,14.2,96,1016,0.00,2.70,0.00,0.000,4,0.000,0.096,2884,3463,2965
$GC,1045,1.66,127.1,79.6,15.6,98,1050,0.00,2.67,0.00,0.000,6,0.000,0.071,2884,2043,2965
$GC,1115,1.66,127.1,68.6,15.4,103,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2042,2965
$GC,1178,1.66,127.1,59.2,14.7,108,1183,0.00,2.78,0.00,0.000,4,0.000,0.110,2884,633,2965
$GC,1257,1.66,127.1,46.8,15.5,113,1264,0.00,2.62,0.00,0.000,6,0.000,0.067,2884,2067,2965
$GC,1327,1.66,127.1,36.6,14.4,119,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2067,2965
$GC,1390,1.66,127.1,27.5,14.3,124,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2067,2965
$GC,1454,1.66,127.1,19.1,13.3,129,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2067,2965
$GC,1526,1.66,127.1,10.1,11.8,140,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2067,2965
$GC,1598,1.69,155.2,3.0,8.4,151,1611,0.00,0.00,11.02,0.690,2,0.000,0.000,2884,2067,2904
$STATE,1612,end climb,SURFACE_DEPTH_REACHED
$STATE,1612,begin surface coast
$FINISH,0.5,1.022134
$STATE,1637,end surface coast,CONTROL_FINISHED_OK
$STATE,1637,begin surface
$SM_CCo,1662,226.73,0.627,0,0,1038,600.00
$SM_GC,1.30,0.00,0.00,226.73,0.000,0.000,0.627,36,2214,1038,-11.47,0.40,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2009
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.7,6.9
$24V_AH,23.8,52.084
$10V_AH,10.2,14.023
$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,29.400,39.575,208.125,226.725,0.000,162.955,315.915,606.107,0.750,0.000,0.000,235.689,301.058,903.633,593.731,521.755,1266.020,33.323,839.680,0.000,302.955,0.000,5.368
$DEVICE_MAMPS,198.653,146.497,727.116,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3314,157
$CFSIZE,260034560,244871168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,082359,4740.928,-12252.055,250,3.6,269,18.3