version: 66.02
glider: 22
mission: 2
dive: 430
start: 10 7 107 5 44 33
data:
$ID,22
$MISSION,2
$DIVE,430
$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,-119283.59
$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,9
$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,1
$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
$GPS1,053427,4740.998,-12250.126,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.4
$GPS2,054309,4741.071,-12250.090,15,1.4,15,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,-0.197
$KALMAN_X,64003.8,574.1,344.0,-61311.6,120.3
$KALMAN_Y,13342.9,296.3,-21.0,-11070.0,140.2
$MHEAD_RNG_PITCHd_Wd,198.1,717,-10.1,-6.296
$D_GRID,81
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,38,-0.73,-88.0,0.0,0.0,0,113,0.00,0.00,-72.60,0.000,2,0.000,0.000,37,2216,3148
$GC,117,-0.73,-88.0,2.4,-3.0,12,166,13.57,3.10,-27.90,0.000,4,0.194,0.159,2367,781,3845
$GC,206,-0.73,-88.0,7.1,-7.0,26,212,0.00,2.88,0.00,0.000,6,0.000,0.113,2367,2205,3845
$GC,278,-0.73,-88.0,11.7,-6.3,37,284,0.00,2.92,0.00,0.000,4,0.000,0.148,2367,3575,3845
$GC,310,-0.73,-88.0,14.3,-7.9,42,316,0.00,2.83,0.00,0.000,6,0.000,0.117,2367,2195,3845
$GC,382,-0.73,-88.0,19.0,-5.9,53,388,0.00,2.97,0.00,0.000,4,0.000,0.146,2367,3578,3845
$GC,409,-0.73,-88.0,20.2,-5.2,57,413,0.00,2.80,0.00,0.000,6,0.000,0.113,2367,2194,3845
$GC,605,-0.73,-88.0,30.3,-5.7,72,609,0.00,2.97,0.00,0.000,4,0.000,0.146,2367,779,3846
$GC,709,-0.73,-88.0,36.0,-5.1,79,715,0.00,2.88,0.00,0.000,6,0.000,0.115,2367,2203,3846
$GC,906,-0.73,-88.0,45.6,-4.8,95,910,0.00,2.90,0.00,0.000,4,0.000,0.146,2368,3573,3846
$GC,965,-0.73,-88.0,48.5,-4.9,99,970,0.00,2.83,0.00,0.000,6,0.000,0.116,2367,2186,3846
$GC,1161,-0.73,-88.0,58.3,-5.3,114,1166,0.00,2.97,0.00,0.000,4,0.000,0.146,2367,775,3846
$GC,1226,-0.73,-88.0,61.9,-5.2,118,1233,0.00,2.90,0.00,0.000,6,0.000,0.117,2367,2212,3846
$GC,1423,-0.73,-88.0,72.2,-5.7,134,1427,0.00,2.88,0.00,0.000,4,0.000,0.148,2367,3564,3845
$GC,1475,-0.73,-88.0,74.9,-5.2,137,1481,0.00,2.78,0.00,0.000,6,0.000,0.115,2368,2198,3846
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1617,begin apogee
$GC,1625,-0.31,0.0,81.0,3.9,149,1696,0.50,0.00,68.95,0.730,6,0.143,0.000,2459,2047,3483
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1700,0.73,88.0,82.8,0.0,155,1777,1.10,3.03,68.00,0.715,4,0.108,0.118,2682,3480,3125
$GC,1849,0.77,130.6,78.4,5.3,166,1890,0.00,2.83,32.47,0.719,6,0.000,0.097,2682,2044,2951
$GC,2080,0.77,130.6,63.4,6.4,185,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2044,2951
$GC,2269,0.77,130.6,50.9,6.6,200,2274,0.00,2.92,0.00,0.000,4,0.000,0.139,2682,636,2951
$GC,2315,0.77,130.6,47.9,7.0,203,2320,0.00,2.72,0.00,0.000,6,0.000,0.086,2682,2061,2950
$GC,2510,0.77,130.6,34.2,6.4,218,2515,0.00,2.85,0.00,0.000,4,0.000,0.121,2682,3470,2950
$GC,2602,0.77,130.6,27.8,6.8,224,2608,0.00,2.80,0.00,0.000,6,0.000,0.096,2682,2043,2950
$GC,2801,0.80,158.1,16.5,5.7,244,2831,0.10,3.03,20.70,0.696,4,0.087,0.132,2704,624,2838
$STATE,2981,end climb,SURFACE_DEPTH_REACHED
$STATE,2981,begin surface coast
$FINISH,1.9,1.022215
$STATE,3015,end surface coast,CONTROL_FINISHED_OK
$STATE,3015,begin surface
$SM_CCo,3113,148.57,0.647,0,0,1649,450.13
$SM_GC,1.32,0.00,0.00,148.57,0.000,0.000,0.647,35,2211,1649,-11.48,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,2053
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,7.8
$24V_AH,23.8,46.720
$10V_AH,10.1,12.432
$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,27.400,64.200,190.125,148.575,0.000,32.579,37.826,104.899,0.500,0.000,0.000,15.787,506.513,1705.727,462.870,528.351,531.270,33.347,784.550,0.000,497.490,0.000,5.350
$DEVICE_MAMPS,194.051,158.769,730.184,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,182.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,277
$CFSIZE,260034560,245972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,064002,4741.010,-12250.291,14,1.6,31,18.3