version: 66.02
glider: 22
mission: 2
dive: 428
start: 10 7 107 3 34 1
data:
$ID,22
$MISSION,2
$DIVE,428
$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,-119233.2
$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,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,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
$GPS1,031938,4740.883,-12249.983,8,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.0
$GPS2,033238,4740.964,-12249.861,13,2.0,30,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,-0.085
$KALMAN_X,63397.6,493.7,219.0,-60221.2,289.0
$KALMAN_Y,12761.4,235.2,-35.2,-10609.0,46.0
$MHEAD_RNG_PITCHd_Wd,231.3,794,-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,-71.90,0.000,2,0.000,0.000,33,2207,3126
$GC,118,-0.73,-88.0,2.3,-2.0,12,167,13.52,3.03,-26.90,0.000,4,0.193,0.150,2365,783,3844
$GC,180,-0.73,-88.0,6.1,-6.7,22,186,0.00,2.88,0.00,0.000,6,0.000,0.113,2365,2206,3845
$GC,252,-0.73,-88.0,11.7,-8.7,33,258,0.00,2.90,0.00,0.000,4,0.000,0.146,2365,3564,3846
$GC,278,-0.73,-88.0,14.6,-10.6,37,284,0.00,2.78,0.00,0.000,6,0.000,0.112,2365,2193,3845
$GC,356,-0.73,-88.0,21.0,-6.4,48,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2194,3846
$GC,545,-0.73,-88.0,31.2,-4.5,63,550,0.00,2.95,0.00,0.000,4,0.000,0.141,2364,783,3847
$GC,610,-0.73,-88.0,34.6,-5.3,67,617,0.00,2.88,0.00,0.000,6,0.000,0.115,2365,2209,3846
$GC,807,-0.73,-88.0,45.2,-5.7,83,812,0.00,2.88,0.00,0.000,4,0.000,0.147,2365,3573,3846
$GC,859,-0.73,-88.0,48.2,-5.5,86,865,0.00,2.78,0.00,0.000,6,0.000,0.111,2365,2195,3847
$GC,1055,-0.73,-88.0,59.5,-5.9,102,1060,0.00,2.95,0.00,0.000,4,0.000,0.143,2365,784,3847
$GC,1115,-0.73,-88.0,62.6,-4.6,106,1120,0.00,2.88,0.00,0.000,6,0.000,0.116,2365,2207,3847
$GC,1311,-0.73,-88.0,71.1,-4.2,121,1315,0.00,2.90,0.00,0.000,4,0.000,0.149,2365,3575,3847
$GC,1376,-0.73,-88.0,74.5,-5.4,125,1382,0.00,2.80,0.00,0.000,6,0.000,0.114,2365,2193,3847
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1564,-0.31,0.0,82.5,4.8,140,1636,0.50,0.00,69.22,0.736,6,0.133,0.000,2459,2043,3484
$STATE,1637,end apogee,CONTROL_FINISHED_OK
$STATE,1637,begin climb
$GC,1640,0.73,88.0,84.6,0.0,146,1717,1.10,3.00,68.40,0.718,4,0.104,0.117,2683,3464,3124
$GC,1794,0.73,89.0,78.4,6.3,158,1799,0.00,2.80,0.00,0.000,6,0.000,0.095,2683,2044,3124
$GC,1990,0.76,118.2,67.3,5.6,173,2018,0.00,3.00,22.80,0.719,4,0.000,0.135,2683,632,3002
$GC,2087,0.76,118.2,60.8,7.7,180,2093,0.00,2.72,0.00,0.000,6,0.000,0.085,2683,2060,3001
$GC,2283,0.76,118.2,47.2,6.6,196,2287,0.00,2.83,0.00,0.000,4,0.000,0.118,2683,3466,3002
$GC,2308,0.76,118.2,45.3,7.3,197,2315,0.00,2.80,0.00,0.000,6,0.000,0.096,2683,2038,3001
$GC,2504,0.76,118.2,33.4,6.4,213,2509,0.00,2.88,0.00,0.000,4,0.000,0.130,2683,628,3001
$GC,2590,0.76,118.2,27.9,6.5,219,2595,0.00,2.72,0.00,0.000,6,0.000,0.084,2685,2061,3001
$GC,2788,0.77,130.8,17.4,6.0,237,2806,0.00,2.92,9.38,0.720,4,0.000,0.123,2683,3463,2950
$GC,2879,0.89,232.7,13.8,4.0,251,2964,0.17,2.78,77.43,0.674,6,0.066,0.096,2722,2046,2535
$STATE,3001,end climb,SURFACE_DEPTH_REACHED
$STATE,3001,begin surface coast
$FINISH,0.6,1.022140
$STATE,3088,end surface coast,CONTROL_FINISHED_OK
$STATE,3088,begin surface
$SM_CCo,3183,115.28,0.647,0,0,1648,450.13
$SM_GC,1.37,0.00,0.00,115.28,0.000,0.000,0.647,36,2211,1648,-11.47,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,2056
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.8,46.561
$10V_AH,10.1,12.378
$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,27.550,63.650,247.225,115.275,0.000,65.181,167.424,142.695,0.500,0.000,0.000,30.101,503.408,1784.497,469.260,552.024,719.288,33.346,805.802,0.000,507.212,0.000,5.349
$DEVICE_MAMPS,193.284,150.332,736.320,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6453,284
$CFSIZE,260034560,246022144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,043006,4740.925,-12249.945,10,3.5,29,18.3