version: 66.02
glider: 22
mission: 2
dive: 431
start: 10 7 107 6 50 20
data:
$ID,22
$MISSION,2
$DIVE,431
$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,-119299.32
$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,7
$R_STBD_OVSHOOT,7
$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
$GPS1,064002,4741.010,-12250.291,14,1.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.0
$GPS2,064856,4741.091,-12250.280,10,1.7,15,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.029,-0.243
$KALMAN_X,64141.7,581.5,333.7,-61683.3,-36.3
$KALMAN_Y,13745.6,321.7,38.5,-11522.6,223.6
$MHEAD_RNG_PITCHd_Wd,168.4,650,-10.1,-6.296
$D_GRID,82
$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,37,begin dive
$GC,40,-0.73,-88.0,0.0,0.0,0,113,0.00,0.00,-70.60,0.000,2,0.000,0.000,32,2211,3104
$GC,117,-0.73,-88.0,2.1,-1.8,12,172,13.60,3.08,-31.35,0.000,4,0.195,0.151,2366,778,3845
$GC,185,-0.73,-88.0,4.9,-6.0,23,191,0.00,2.90,0.00,0.000,6,0.000,0.114,2366,2214,3845
$GC,258,-0.73,-88.0,9.8,-6.0,34,264,0.00,2.90,0.00,0.000,4,0.000,0.150,2366,3564,3846
$GC,310,-0.73,-88.0,13.2,-6.9,42,316,0.00,2.80,0.00,0.000,6,0.000,0.114,2366,2187,3846
$GC,383,-0.73,-88.0,17.6,-5.7,53,389,0.00,2.95,0.00,0.000,4,0.000,0.143,2366,782,3846
$GC,415,-0.73,-88.0,19.5,-5.5,58,421,0.00,2.90,0.00,0.000,6,0.000,0.120,2366,2204,3846
$GC,491,-0.73,-88.0,23.4,-5.1,65,496,0.00,2.97,0.00,0.000,4,0.000,0.134,2368,778,3846
$GC,537,-0.73,-88.0,25.9,-5.5,68,542,0.00,2.92,0.00,0.000,6,0.000,0.120,2366,2210,3845
$GC,734,-0.73,-88.0,36.3,-5.1,83,738,0.00,2.90,0.00,0.000,4,0.000,0.150,2366,3574,3846
$GC,825,-0.73,-88.0,41.9,-6.3,89,832,0.00,2.80,0.00,0.000,6,0.000,0.113,2366,2188,3845
$GC,1022,-0.73,-88.0,51.6,-5.0,105,1027,0.00,2.95,0.00,0.000,4,0.000,0.142,2366,777,3846
$GC,1061,-0.73,-88.0,53.5,-4.5,107,1067,0.00,2.90,0.00,0.000,6,0.000,0.118,2366,2206,3846
$GC,1257,-0.73,-88.0,63.0,-4.8,123,1262,0.00,2.88,0.00,0.000,4,0.000,0.148,2367,3566,3846
$GC,1316,-0.73,-88.0,66.2,-5.6,127,1321,0.00,2.80,0.00,0.000,6,0.000,0.116,2366,2190,3846
$GC,1513,-0.73,-88.0,76.0,-4.9,142,1517,0.00,2.95,0.00,0.000,4,0.000,0.146,2366,779,3846
$GC,1552,-0.73,-88.0,77.6,-4.1,144,1558,0.00,2.90,0.00,0.000,6,0.000,0.120,2366,2209,3846
$STATE,1656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1656,begin apogee
$GC,1664,-0.31,0.0,82.6,4.7,153,1736,0.50,0.00,69.20,0.729,6,0.140,0.000,2459,2041,3484
$STATE,1737,end apogee,CONTROL_FINISHED_OK
$STATE,1737,begin climb
$GC,1740,0.73,88.0,84.8,0.0,159,1817,1.10,2.97,68.22,0.718,4,0.104,0.126,2682,632,3125
$GC,1852,0.74,103.2,80.9,6.0,168,1869,0.00,2.75,11.48,0.736,6,0.000,0.086,2684,2061,3062
$GC,2068,0.77,128.3,69.5,5.7,185,2093,0.00,2.95,19.42,0.723,4,0.000,0.120,2683,3463,2959
$GC,2152,0.77,128.3,63.2,7.0,191,2158,0.00,2.80,0.00,0.000,6,0.000,0.097,2684,2047,2959
$GC,2349,0.80,150.4,51.7,5.8,207,2371,0.00,0.00,16.48,0.718,6,0.000,0.000,2684,2047,2869
$GC,2561,0.80,150.4,37.8,6.7,224,2566,0.00,2.90,0.00,0.000,4,0.000,0.131,2683,633,2869
$GC,2601,0.80,150.4,34.7,8.0,226,2607,0.00,2.72,0.00,0.000,6,0.000,0.087,2683,2061,2869
$GC,2796,0.80,150.4,19.9,8.2,242,2802,0.00,2.95,0.00,0.000,4,0.000,0.126,2683,627,2869
$GC,2882,0.80,150.4,12.6,7.8,255,2888,0.00,2.75,0.00,0.000,6,0.000,0.091,2683,2055,2869
$GC,2954,0.91,252.6,9.5,4.0,266,3040,0.17,2.92,77.70,0.673,4,0.082,0.120,2724,3467,2453
$STATE,3044,end climb,SURFACE_DEPTH_REACHED
$STATE,3044,begin surface coast
$FINISH,0.6,1.022031
$STATE,3124,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3220,101.53,0.644,0,0,1648,450.13
$SM_GC,1.35,0.00,0.00,101.53,0.000,0.000,0.644,35,2180,1648,-11.47,-0.59,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,2049
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.8,46.804
$10V_AH,10.1,12.461
$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,27.575,75.225,262.500,101.525,0.000,32.588,38.697,134.524,0.500,0.000,0.000,15.109,520.392,1703.565,485.082,542.527,555.716,33.344,832.760,0.000,511.469,0.000,5.348
$DEVICE_MAMPS,194.818,151.099,735.553,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9577,293
$CFSIZE,260034560,245940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,074708,4740.992,-12250.324,42,1.8,49,18.3