version: 66.02
glider: 22
mission: 2
dive: 427
start: 10 7 107 2 24 30
data:
$ID,22
$MISSION,2
$DIVE,427
$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,-119202.47
$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,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
$GPS1,020946,4740.809,-12250.121,11,2.5,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.9
$GPS2,022307,4740.932,-12249.959,34,1.1,38,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.242,-0.041
$KALMAN_X,62926.1,396.6,90.5,-59646.2,375.8
$KALMAN_Y,12555.4,221.5,46.8,-10532.6,-41.5
$MHEAD_RNG_PITCHd_Wd,242.1,659,-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,37,end surface,CONTROL_FINISHED_OK
$STATE,37,begin dive
$GC,40,-0.73,-88.0,0.0,0.0,0,114,0.00,0.00,-71.82,0.000,2,0.000,0.000,38,2210,3128
$GC,118,-0.73,-88.0,2.4,-2.2,12,167,13.52,3.00,-28.27,0.000,4,0.194,0.148,2363,785,3844
$GC,295,-0.73,-88.0,14.0,-8.7,39,301,0.00,2.88,0.00,0.000,6,0.000,0.112,2364,2216,3845
$GC,367,-0.73,-88.0,19.0,-7.1,50,373,0.00,2.88,0.00,0.000,4,0.000,0.146,2364,3566,3846
$GC,425,-0.73,-88.0,23.3,-7.0,55,431,0.00,2.78,0.00,0.000,6,0.000,0.110,2364,2188,3846
$GC,621,-0.73,-88.0,33.7,-4.9,71,626,0.00,2.92,0.00,0.000,4,0.000,0.139,2363,781,3846
$GC,687,-0.73,-88.0,37.1,-5.1,75,693,0.00,2.88,0.00,0.000,6,0.000,0.114,2363,2210,3846
$GC,883,-0.73,-88.0,46.7,-4.5,91,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2210,3847
$GC,1074,-0.73,-88.0,56.4,-5.1,106,1078,0.00,2.88,0.00,0.000,4,0.000,0.146,2364,3566,3846
$GC,1134,-0.73,-88.0,59.8,-5.5,110,1138,0.00,2.78,0.00,0.000,6,0.000,0.113,2363,2193,3847
$GC,1329,-0.73,-88.0,69.3,-4.6,125,1334,0.00,2.95,0.00,0.000,4,0.000,0.143,2363,776,3846
$GC,1389,-0.73,-88.0,72.3,-5.4,129,1394,0.00,2.90,0.00,0.000,6,0.000,0.117,2364,2207,3846
$STATE,1582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1582,begin apogee
$GC,1589,-0.31,0.0,82.1,4.8,144,1661,0.50,0.00,68.85,0.732,6,0.132,0.000,2458,2040,3484
$STATE,1662,end apogee,CONTROL_FINISHED_OK
$STATE,1662,begin climb
$GC,1665,0.73,88.0,83.9,0.0,150,1742,1.10,2.90,68.65,0.715,4,0.105,0.115,2681,634,3123
$GC,1790,0.77,123.1,79.5,5.5,160,1826,0.00,2.72,26.42,0.716,6,0.000,0.081,2682,2065,2982
$GC,2015,0.77,123.1,63.8,7.4,178,2020,0.00,2.83,0.00,0.000,4,0.000,0.119,2681,3471,2982
$GC,2048,0.77,123.1,61.6,7.4,180,2052,0.00,2.80,0.00,0.000,6,0.000,0.097,2680,2045,2982
$GC,2244,0.77,123.1,48.5,6.8,195,2248,0.00,2.90,0.00,0.000,4,0.000,0.131,2681,631,2982
$GC,2321,0.77,123.1,43.1,7.0,200,2328,0.00,2.72,0.00,0.000,6,0.000,0.084,2681,2063,2982
$GC,2519,0.77,131.4,31.4,6.1,216,2529,0.00,0.00,6.35,0.740,6,0.000,0.000,2681,2063,2947
$GC,2720,0.81,166.0,19.6,5.5,232,2750,0.12,0.00,25.88,0.696,6,0.077,0.000,2708,2063,2807
$GC,2816,0.81,166.0,13.5,7.1,247,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2063,2807
$GC,2889,0.84,187.9,9.1,5.8,258,2913,0.00,3.08,16.23,0.695,4,0.000,0.130,2708,628,2718
$STATE,2950,end climb,SURFACE_DEPTH_REACHED
$STATE,2950,begin surface coast
$FINISH,0.6,1.019332
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3123,134.43,0.645,0,0,1648,450.13
$SM_GC,1.31,0.00,0.00,134.43,0.000,0.000,0.645,34,2206,1648,-11.48,0.17,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,2048
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.8,46.470
$10V_AH,10.1,12.348
$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,27.400,52.200,212.375,134.425,0.000,65.184,65.824,250.090,0.500,0.000,0.000,38.684,498.756,1782.959,460.230,542.398,724.837,33.351,776.879,0.000,487.432,0.000,5.350
$DEVICE_MAMPS,194.051,148.031,740.155,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6438,279
$CFSIZE,260034560,246042624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,031938,4740.883,-12249.983,8,1.8,13,18.3