version: 66.02
glider: 22
mission: 2
dive: 422
start: 10 6 107 20 57 15
data:
$ID,22
$MISSION,2
$DIVE,422
$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,-119059.74
$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,8
$R_STBD_OVSHOOT,12
$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
$GPS1,205057,4740.931,-12251.540,15,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.3
$GPS2,205551,4740.967,-12251.499,15,1.9,15,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.218,-0.112
$KALMAN_X,60795.5,161.1,93.2,-59196.3,-12.4
$KALMAN_Y,12107.0,67.4,167.5,-9981.6,133.7
$MHEAD_RNG_PITCHd_Wd,98.9,1409,-10.1,-6.296
$D_GRID,99
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.73,-88.0,0.0,0.0,0,98,0.00,0.00,-66.53,0.000,2,0.000,0.000,38,2220,3046
$GC,102,-0.73,-88.0,2.3,-2.4,11,157,13.60,2.90,-33.45,0.000,4,0.195,0.154,2367,3571,3844
$GC,277,-0.73,-88.0,12.3,-8.0,38,283,0.00,2.80,0.00,0.000,6,0.000,0.114,2366,2189,3845
$GC,349,-0.73,-88.0,16.4,-4.1,49,356,0.00,2.92,0.00,0.000,4,0.000,0.140,2366,780,3845
$GC,389,-0.73,-88.0,17.7,-3.2,55,395,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2208,3845
$GC,467,-0.73,-88.0,21.6,-5.8,65,472,0.00,2.90,0.00,0.000,4,0.000,0.146,2367,3568,3846
$GC,519,-0.73,-88.0,25.2,-7.0,68,526,0.00,2.78,0.00,0.000,6,0.000,0.110,2367,2193,3846
$GC,716,-0.73,-88.0,35.8,-5.2,84,720,0.00,2.95,0.00,0.000,4,0.000,0.140,2366,777,3846
$GC,776,-0.73,-88.0,39.0,-5.0,88,780,0.00,2.90,0.00,0.000,6,0.000,0.117,2366,2204,3847
$GC,971,-0.73,-88.0,47.9,-4.2,103,976,0.00,2.90,0.00,0.000,4,0.000,0.147,2366,3565,3846
$GC,1037,-0.73,-88.0,51.1,-4.8,107,1043,0.00,2.80,0.00,0.000,6,0.000,0.114,2367,2186,3846
$GC,1233,-0.73,-88.0,59.8,-4.2,123,1237,0.00,2.95,0.00,0.000,4,0.000,0.144,2366,780,3845
$GC,1272,-0.73,-88.0,61.7,-4.8,125,1279,0.00,2.90,0.00,0.000,6,0.000,0.119,2366,2214,3845
$GC,1468,-0.73,-88.0,71.2,-5.3,141,1473,0.00,2.88,0.00,0.000,4,0.000,0.148,2367,3570,3846
$GC,1507,-0.73,-88.0,73.3,-5.5,143,1513,0.00,2.80,0.00,0.000,6,0.000,0.115,2366,2188,3846
$GC,1703,-0.73,-88.0,81.5,-3.2,159,1708,0.00,2.95,0.00,0.000,4,0.000,0.145,2366,783,3847
$STATE,1786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1786,begin apogee
$GC,1795,-0.31,0.0,85.2,5.0,165,1867,0.45,0.00,69.20,0.726,6,0.127,0.000,2455,2057,3484
$STATE,1868,end apogee,CONTROL_FINISHED_OK
$STATE,1868,begin climb
$GC,1871,0.73,88.0,87.3,0.0,171,1948,1.12,3.03,68.22,0.714,4,0.106,0.123,2683,636,3125
$GC,1983,0.75,109.4,84.6,5.8,180,2007,0.00,2.75,16.25,0.726,6,0.000,0.088,2683,2058,3037
$GC,2196,0.75,109.4,71.5,6.6,197,2201,0.00,2.92,0.00,0.000,4,0.000,0.123,2683,634,3036
$GC,2235,0.75,109.4,68.7,7.4,199,2242,0.00,2.72,0.00,0.000,6,0.000,0.087,2683,2058,3036
$GC,2431,0.75,110.7,56.0,6.3,215,2436,0.00,2.85,0.00,0.000,4,0.000,0.123,2683,3463,3036
$GC,2483,0.75,110.7,52.6,6.8,218,2490,0.00,2.78,0.00,0.000,6,0.000,0.094,2683,2046,3036
$GC,2680,0.76,113.5,41.3,6.2,234,2684,0.00,0.00,2.78,0.778,6,0.000,0.000,2683,2047,3021
$GC,2868,0.76,113.5,29.0,6.3,249,2873,0.00,2.90,0.00,0.000,4,0.000,0.130,2682,630,3022
$GC,2927,0.77,128.8,25.4,6.0,253,2945,0.00,2.70,11.95,0.716,6,0.000,0.083,2682,2056,2959
$GC,3140,0.79,143.8,13.2,6.0,277,3158,0.00,2.92,11.00,0.711,4,0.000,0.125,2683,3469,2897
$GC,3291,0.96,299.1,5.7,2.8,300,3311,0.25,2.80,14.00,0.700,2,0.073,0.097,2738,2046,2822
$STATE,3312,end climb,SURFACE_DEPTH_REACHED
$STATE,3312,begin surface coast
$FINISH,3.8,1.022110
$STATE,3337,end surface coast,CONTROL_FINISHED_OK
$STATE,3337,begin surface
$SM_CCo,3361,152.90,0.642,0,0,1647,450.13
$SM_GC,1.35,0.00,0.00,152.90,0.000,0.000,0.642,39,2211,1647,-11.46,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2054
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.8,46.035
$10V_AH,10.2,12.212
$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,28.025,74.500,193.400,152.900,0.000,32.586,52.924,109.131,0.750,0.000,0.000,15.379,598.729,1836.025,480.795,545.509,391.343,33.354,831.009,0.000,546.041,0.000,5.352
$DEVICE_MAMPS,194.818,154.167,777.738,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9605,307
$CFSIZE,260034560,246153216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,215707,4740.851,-12251.014,37,1.9,42,18.3