version: 66.02
glider: 22
mission: 2
dive: 470
start: 10 8 107 22 18 27
data:
$ID,22
$MISSION,2
$DIVE,470
$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,693.21777
$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,-125873.27
$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,10
$R_STBD_OVSHOOT,10
$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
$GPS1,215244,4739.947,-12252.939,148,1.3,166,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.2
$GPS2,221721,4739.954,-12253.191,32,2.0,32,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.181
$KALMAN_X,-2316.2,-313.7,-268.8,2822.4,-79.1
$KALMAN_Y,-7611.5,-446.4,-183.4,9133.0,-46.5
$MHEAD_RNG_PITCHd_Wd,24.4,2438,-20.8,-10.556
$D_GRID,118
$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,28,begin dive
$GC,31,-1.44,-127.1,0.0,0.0,0,149,0.00,0.00,-112.78,0.000,2,0.000,0.000,35,2205,2954
$GC,152,-1.44,-127.1,2.4,-3.6,19,220,12.80,2.83,-46.72,0.000,4,0.198,0.140,2207,3570,3997
$GC,325,-1.44,-127.1,21.6,-16.8,45,332,0.00,2.70,0.00,0.000,6,0.000,0.097,2206,2192,3999
$GC,521,-1.44,-127.1,52.3,-15.3,61,526,0.00,2.88,0.00,0.000,4,0.000,0.127,2206,773,4000
$GC,573,-1.44,-127.1,60.3,-15.0,64,580,0.00,2.80,0.00,0.000,6,0.000,0.100,2207,2203,4000
$GC,769,-1.44,-127.1,88.8,-14.2,80,774,0.00,2.85,0.00,0.000,4,0.000,0.140,2207,3565,4001
$STATE,813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,813,begin apogee
$GC,823,-0.31,0.0,95.8,15.4,83,926,1.33,0.00,97.70,0.728,6,0.157,0.000,2452,2044,3484
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,930,1.44,127.1,102.3,0.0,92,1040,1.92,2.90,99.25,0.714,4,0.110,0.115,2837,623,2965
$GC,1101,1.44,127.1,88.4,14.4,105,1108,0.00,2.67,0.00,0.000,6,0.000,0.070,2838,2069,2965
$GC,1297,1.44,127.1,64.7,12.7,121,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2069,2966
$GC,1489,1.44,127.1,41.9,11.7,136,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2069,2966
$GC,1681,1.44,127.1,20.1,11.5,151,1685,0.00,2.90,0.00,0.000,4,0.000,0.117,2837,627,2966
$GC,1806,1.47,157.5,7.6,8.9,169,1836,0.00,2.62,23.15,0.680,6,0.000,0.071,2838,2058,2842
$STATE,1867,end climb,SURFACE_DEPTH_REACHED
$STATE,1867,begin surface coast
$FINISH,0.5,1.007624
$STATE,1888,end surface coast,CONTROL_FINISHED_OK
$STATE,1888,begin surface
$SM_CCo,1913,265.42,0.621,0,0,658,693.22
$SM_GC,1.21,0.00,0.00,265.42,0.000,0.000,0.621,38,2204,658,-11.46,0.11,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2023
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,50.883
$10V_AH,10.2,13.690
$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,28.850,28.450,220.100,265.425,0.000,165.119,310.856,622.894,0.500,0.000,0.000,32.239,318.026,1135.746,622.892,332.733,1275.084,33.334,851.240,0.000,316.357,0.000,5.349
$DEVICE_MAMPS,197.886,140.361,727.883,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3320,182
$CFSIZE,260034560,245075968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,225805,4740.045,-12253.065,143,2.5,162,18.3