version: 66.02
glider: 22
mission: 2
dive: 463
start: 10 8 107 15 16 9
data:
$ID,22
$MISSION,2
$DIVE,463
$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,-125387.52
$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,11
$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
$GPS1,151032,4739.617,-12252.525,14,2.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.2
$GPS2,151502,4739.580,-12252.527,33,2.0,44,18.3
$SPEED_LIMITS,0.157,0.226
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.218
$KALMAN_X,-739.0,-239.6,71.1,1650.4,-23.2
$KALMAN_Y,-5732.4,-638.9,-15.5,6586.9,-76.4
$MHEAD_RNG_PITCHd_Wd,356.9,2691,-19.0,-9.048
$D_GRID,123
$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,-90.00,0.000,2,0.000,0.000,40,2208,2948
$GC,128,-1.32,-117.3,2.3,-3.2,15,196,13.00,3.00,-46.92,0.000,4,0.199,0.149,2236,782,3963
$GC,258,-1.32,-117.3,11.9,-13.9,35,264,0.00,2.80,0.00,0.000,6,0.000,0.100,2236,2208,3963
$GC,337,-1.32,-117.3,22.2,-12.7,46,341,0.00,2.85,0.00,0.000,4,0.000,0.140,2236,3567,3963
$GC,410,-1.32,-117.3,32.5,-13.9,51,414,0.00,2.75,0.00,0.000,6,0.000,0.107,2236,2199,3964
$GC,605,-1.32,-117.3,57.2,-12.6,66,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2199,3964
$GC,797,-1.32,-117.3,81.2,-12.8,81,802,0.00,2.95,0.00,0.000,4,0.000,0.141,2236,782,3964
$GC,836,-1.32,-117.3,86.4,-12.3,83,843,0.00,2.80,0.00,0.000,6,0.000,0.104,2236,2203,3964
$STATE,916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,923,-0.31,0.0,95.8,11.2,90,1019,1.15,0.00,92.10,0.723,6,0.146,0.000,2454,2036,3483
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,1.32,117.3,99.2,0.0,98,1124,1.75,2.92,91.15,0.710,4,0.104,0.112,2807,621,3005
$GC,1200,1.32,117.3,87.8,11.1,112,1205,0.00,2.67,0.00,0.000,6,0.000,0.069,2807,2064,3005
$GC,1396,1.32,117.3,66.6,10.4,127,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2064,3004
$GC,1589,1.32,117.3,47.1,9.8,142,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2064,3004
$GC,1777,1.32,117.3,27.9,10.4,157,1781,0.00,2.72,0.00,0.000,4,0.000,0.101,2808,3467,3005
$GC,1841,1.32,117.3,21.0,10.1,161,1848,0.00,2.70,0.00,0.000,6,0.000,0.079,2807,2044,3005
$GC,2050,1.36,158.0,5.1,6.9,191,2086,0.00,0.00,31.10,0.674,6,0.000,0.000,2808,2044,2838
$STATE,2096,end climb,SURFACE_DEPTH_REACHED
$STATE,2096,begin surface coast
$FINISH,0.6,1.002546
$STATE,2133,end surface coast,CONTROL_FINISHED_OK
$STATE,2133,begin surface
$SM_CCo,2158,215.25,0.627,0,0,1037,600.00
$SM_GC,1.32,0.00,0.00,215.25,0.000,0.000,0.627,36,2216,1037,-11.47,0.45,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2037
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,7.6
$24V_AH,23.8,50.015
$10V_AH,10.2,13.471
$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,28.625,28.875,214.350,215.250,0.000,32.581,26.577,84.405,0.500,0.000,0.000,44.116,371.982,1066.367,547.022,386.122,302.522,33.329,796.693,0.000,359.286,0.000,7.449
$DEVICE_MAMPS,198.653,148.798,722.514,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6469,204
$CFSIZE,260034560,245272576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,155716,4739.751,-12252.458,37,2.2,56,18.3